X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=4ad8a4bf0be8bb5ded68e636dd9c2ee2910a2ec2;hb=5930d874bede4f9a0734fa113b4791b6910ef8ab;hp=1cff6104ed66a5a154f7304699df1cb29407acf2;hpb=ab4925409a44bb55bd6531e8863563a949f07944;p=3501%2Fstronghold-2016 diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index 1cff6104..4ad8a4bf 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -1,5 +1,10 @@ package org.usfirst.frc.team3501.robot; +import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.DoubleSolenoid.Value; +import edu.wpi.first.wpilibj.I2C; +import edu.wpi.first.wpilibj.I2C.Port; + /** * The Constants stores constant values for all subsystems. This includes the * port values for motors and sensors, as well as important operational @@ -8,35 +13,171 @@ package org.usfirst.frc.team3501.robot; public class Constants { public static class OI { + // Computer Ports public final static int LEFT_STICK_PORT = 0; - public final static int RIGHT_STICK_PORT = 0; - public final static int RIGHT_STICK_TRIGGER = 0; + public final static int RIGHT_STICK_PORT = 1; + + public final static int PASS_PORTCULLIS_PORT = 0; + public final static int PASS_CHEVAL_DE_FRISE_PORT = 0; + public final static int PASS_DRAWBRIDGE_PORT = 0; + public final static int PASS_SALLYPORT_PORT = 0; + + public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0; + public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0; + public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0; + public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0; + + public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0; + public final static int SPIN1_PORT = 4; + public final static int SPIN2_PORT = 5; + public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3; + public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2; + + public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0; + public final static int RIGHT_JOYSTICK_THUMB_PORT = 2; - public final static int RIGHT_STICK_LEFT_SILVER_BUTTON = 0; - public final static int RIGHT_STICK_RIGHT_SILVER_BUTTON = 0; - public final static int RIGHT_STICK_THUMB_BUTTON = 0; + public final static int TOGGLE_SCALING_PORT = 0; } public static class DriveTrain { // Drivetrain Motor Related Ports - public static final int FRONT_LEFT = 0; - public static final int FRONT_RIGHT = 0; - public static final int REAR_LEFT = 0; - public static final int REAR_RIGHT = 0; + public static final int FRONT_LEFT = 1; + public static final int FRONT_RIGHT = 4; + public static final int REAR_LEFT = 2; + public static final int REAR_RIGHT = 3; // Encoder related ports - public final static int ENCODER_LEFT_A = 3; - public final static int ENCODER_LEFT_B = 4; - public final static int ENCODER_RIGHT_A = 2; - public final static int ENCODER_RIGHT_B = 1; + public final static int ENCODER_LEFT_A = 0; + public final static int ENCODER_LEFT_B = 1; + public final static int ENCODER_RIGHT_A = 9; + public final static int ENCODER_RIGHT_B = 8; + + public final static int FORWARD_CHANNEL = 0; + public final static int REVERSE_CHANNEL = 0; + + private final static double WHEEL_DIAMETER = 6.0; // in inches + private final static double PULSES_PER_ROTATION = 256; // in pulses + private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches + private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches + public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) + / 256; + + public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3; + public static final int LEFT_FORWARD = 0, LEFT_REVERSE = 1, + RIGHT_FORWARD = 2, RIGHT_REVERSE = 3; + public static double time = 0; + + // Gearing constants + public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward; + public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse; + + public static boolean inverted = false; + + public static final double PASS_DEFENSE_TIMEOUT = 10; // find this + } + + public static class Scaler { + // Piston channels + public final static int FORWARD_CHANNEL = 0; + public final static int REVERSE_CHANNEL = 1; + + // Winch port + public final static int WINCH_MOTOR = 0; + + // Winch speeds + public final static double WINCH_STOP_SPEED = 0.0; + public final static double SCALE_SPEED = 0; + public final static double SECONDS_TO_CLAMP = 2.0; + + // Winch timeout + public final static int SECONDS_TO_SCALE = 0; + + public static boolean SCALING = false; + } public static class Shooter { - public static final int SHOOTER_WHEEL_PORT = 0; + public static final int PORT = 0; + public static final int PUNCH_FORWARD = 0; + public static final int PUNCH_REVERSE = 1; + public static final int ANGLE_ADJUSTER_PORT = 0; + + public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward; + public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse; + + // Encoder port + public static final int ENCODER_PORT_A = 0; + public static final int ENCODER_PORT_B = 0; + public static final int HOOD_FORWARD = 2; + public static final int HOOD_REVERSE = 3; + + public static final Value open = Value.kReverse; + public static final Value closed = Value.kForward; + + public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP; + + public static enum State { + RUNNING, STOPPED; + } + } + + public static class DeadReckoning { + public static final double DEFAULT_SPEED = 0.5; + public static boolean isUsingTimeToPassDefense = true; + + // dead reckoning time and speed constants for driving through defenses + public static double passRockWallTime = 0; + public static double passRockWallSpeed = 0; + public static double passRockWallDistance = 0; + public static double passLowBarTime = 0; + public static double passLowBarSpeed = 0; + public static double passLowBarDistance = 0; + public static double passMoatTime = 0; + public static double passMoatSpeed = 0; + public static double passMoatDistance = 0; + public static double passRampartTime = 0; + public static double passRampartSpeed = 0; + public static double passRampartDistance = 0; + public static double passRoughTerrainTime = 0; + public static double passRoughTerrainSpeed = 0; + public static double passRoughTerrainDistance = 0; + + } + + public static class IntakeArm { + public static final int ROLLER_PORT = 0; + public static final int ARM_PORT = 1; + public static final int POT_CHANNEL = 0; + public static final double INTAKE_SPEED = 0.5; + public static final double OUTPUT_SPEED = -0.5; + public final static double FULL_RANGE = 270.0; // in degrees + public final static double OFFSET = -135.0; // in degrees + public static final double ZERO_ANGLE = 0; + } + + public static class DefenseArm { + // Potentiometer related ports + public static final int ARM_CHANNEL = 0; + public static final int ARM_PORT = 0; + public static final int HAND_PORT = 1; + public static final int HAND_CHANNEL = 1; + public final static double FULL_RANGE = 270.0; // in degrees + public final static double OFFSET = -135.0; // in degrees + + public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 + // level + public final static double ARM_LENGTH = 0; // TODO: find actual length + public final static double HAND_LENGTH = 0; // TODO: find actual length + public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual + // height + } + + public enum Direction { + UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD; } - public static enum Direction { - LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD; + public enum Defense { + PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; } }