X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=8176e5df0cc3d123717a021a70a22a0dfbaff04b;hb=071ab31546b9c3cf13bca472a4ac76b1480aeb6a;hp=e20ecc9c5ce6d91889e5958b99b0e76d1d6748f4;hpb=c4e71803cac46bfa52182a89606fc7c8344f2be3;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 e20ecc9c..8176e5df 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 
 /**
  * The Constants stores constant values for all subsystems. This includes the
@@ -13,63 +14,142 @@ public class Constants {
     // Computer Ports
     public final static int LEFT_STICK_PORT = 0;
     public final static int RIGHT_STICK_PORT = 1;
-    // Ports on the Joystick
-    public final static int TRIGGER_PORT = 1;
-    public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
-    public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
-    public final static int SHOOT_PORT = 4;
-    public final static int LOG_PORT = 5;
+
+    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 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 class Scaler {
     // Piston channels
     public final static int FORWARD_CHANNEL = 0;
-    public final static int REVERSE_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 WINCH_IN_SPEED = 0;
+    public final static double SECONDS_TO_CLAMP = 2.0;
+
+    public static boolean SCALING = false;
+
   }
 
   public static class Shooter {
     public static final int PORT = 0;
-    public static final int PUNCH_FORWARD_PORT = 0;
-    public static final int PUNCH_REVERSE_PORT = 1;
+    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.kForward;
+    public static final Value closed = Value.kReverse;
+
     public static enum State {
       RUNNING, STOPPED;
     }
   }
 
-  public static class IntakeArm {
-    public static final int PORT = 0;
-    public static final int CHEVAL_DE_FRISE_HAND_PORT = 1;
+  public static class DeadReckoning {
+    public static final double DEFAULT_SPEED = 0.5;
+  }
 
+  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 static enum Direction {
-    LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+  public enum Direction {
+    UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
   }
 
   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;
   }
 }