X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=6ed069637770a2d3b0d8915eb5d5d2121b90e75f;hb=8a5f4fa4ec8b53d8d9db1c429cf8190fb06672a0;hp=7245d5fead8910eb4342f964e24a5efeed5609bf;hpb=600a1a1c0e90c03a198c6036de8e5157b7f96af3;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 7245d5fe..6ed06963 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -27,25 +27,26 @@ public class Constants { 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 LEFT_JOYSTICK_TRIGGER_PORT = 1; 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_TRIGGER_PORT = 1; public final static int RIGHT_JOYSTICK_THUMB_PORT = 2; public final static int TOGGLE_SCALING_PORT = 0; + public final static int TOGGLE_COMPRESSOR_PORT = 12; } public static class DriveTrain { // Drivetrain Motor Related Ports public static final int FRONT_LEFT = 1; - public static final int FRONT_RIGHT = 4; + public static final int FRONT_RIGHT = 6; public static final int REAR_LEFT = 2; - public static final int REAR_RIGHT = 3; + public static final int REAR_RIGHT = 5; // Encoder related ports public final static int ENCODER_LEFT_A = 0; @@ -54,18 +55,20 @@ public class Constants { public final static int ENCODER_RIGHT_B = 8; public final static int FORWARD_CHANNEL = 0; - public final static int REVERSE_CHANNEL = 0; + public final static int REVERSE_CHANNEL = 1; - public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) - / 256; + public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256; public static double kp = 0.013, ki = 0.000015, kd = -0.002; public static double gp = 0.018, gi = 0.000015, gd = 0; public static double encoderTolerance = 8.0, gyroTolerance = 5.0; 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 final int MODULE_A_ID = 9, MODULE_B_ID = 10; + public static final int LEFT_FORWARD = 1, LEFT_REVERSE = 5, + RIGHT_FORWARD = 0, RIGHT_REVERSE = 6; + public static double time = 0; // Gearing constants @@ -79,8 +82,8 @@ public class Constants { public static class Scaler { // Piston channels - public final static int FORWARD_CHANNEL = 0; - public final static int REVERSE_CHANNEL = 1; + public final static int FORWARD_CHANNEL = 6; + public final static int REVERSE_CHANNEL = 0; // Winch port public final static int WINCH_MOTOR = 0; @@ -99,7 +102,7 @@ public class Constants { public static class Shooter { public static final int PORT = 0; - public static final int PUNCH_FORWARD = 0; + public static final int PUNCH_FORWARD = 5; public static final int PUNCH_REVERSE = 1; public static final int ANGLE_ADJUSTER_PORT = 0; @@ -109,8 +112,10 @@ public class Constants { // 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 int RIGHT_HOOD_FORWARD = 2; + public static final int RIGHT_HOOD_REVERSE = 4; + public static final int LEFT_HOOD_FORWARD = 4; + public static final int LEFT_HOOD_REVERSE = 2; public static final double DEFAULT_SHOOTER_SPEED = 0.5; @@ -133,6 +138,7 @@ public class Constants { 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 final double DEFAULT_INTAKE_ARM_SPEED = 0.3; } public static class DefenseArm { @@ -230,24 +236,25 @@ public class Constants { // Passing Defenses Constants public static final double DEFAULT_SPEED = 0.5; - public static boolean isUsingTimeToPassDefense = true; + public static final boolean IS_USING_TIME = 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; + // TODO: find the times it takes to pass each defense + public static final double PASS_ROCK_WALL_TIME = 0; + public static final double PASS_ROCK_WALL_SPEED = 0; + public static final double PASS_ROCK_WALL_DIST = 0; + public static final double PASS_LOW_BAR_TIME = 0; + public static final double PASS_LOW_BAR_SPEED = 0; + public static final double PASS_LOW_BAR_DIST = 0; + public static final double PASS_MOAT_TIME = 0; + public static final double PASS_MOAT_SPEED = 0; + public static final double PASS_MOAT_DIST = 0; + public static final double PASS_RAMPART_TIME = 0; + public static final double PASS_RAMPART_SPEED = 0; + public static final double PASS_RAMPART_DIST = 0; + public static final double PASS_ROUGH_TERRAIN_TIME = 0; + public static final double PASS_ROUGH_TERRAIN_SPEED = 0; + public static final double PASS_ROUGH_TERRAIN_DIST = 0; } public enum Direction {