X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=6e3f6ee41cb21da133f94622e040b7306a7a3d83;hb=92d4c21a86e03328bd4e9e28b667911a874aa13c;hp=c26a8809c4ebc2789bc4c3ae190ffbf641fac548;hpb=ee92234b004a4cb01e87485a0899a97f39a40e86;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 c26a8809..6e3f6ee4 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -49,27 +49,41 @@ public class Constants {
     public static final int PUNCH_FORWARD_PORT = 0;
     public static final int PUNCH_REVERSE_PORT = 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 enum State {
       RUNNING, STOPPED;
     }
   }
 
   public static class IntakeArm {
-    public static final int PORT = 0;
-    public static final int CHEVAL_DE_FRISE_PORT = 1;
-
+    public static final int ROLLER_PORT = 0;
+    public static final int INTAKE_PORT = 1;
+    public static final int INTAKE_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 enum Direction {
-    LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+  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 enum Defense {
-    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART
+    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
   }
 }