X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=bbc7a3b88b420a49f786ffe9f6582cde1ec33f0d;hb=01b9b0ec6d379fdf2d18ecf73d20c1b8298d06c4;hp=e092169848cfac5bd21cd26634534a5f6025e701;hpb=7a28d47e6572933499d1a3fca35e562c96337eb8;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 e0921698..bbc7a3b8 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -1,6 +1,9 @@ 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 @@ -13,50 +16,91 @@ 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; - - 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 final static double INCHES_PER_PULSE = (((Math.PI) - * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) - / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; + 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; + + 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 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 = 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 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; @@ -65,6 +109,15 @@ 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 double DEFAULT_SHOOTER_SPEED = 0.5; + + 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; @@ -77,9 +130,6 @@ public class Constants { public static final int POT_CHANNEL = 0; public static final double INTAKE_SPEED = 0.5; public static final double OUTPUT_SPEED = -0.5; - public static final double UP_SPEED = 0.3; - public static final double DOWN_SPEED = -0.3; - public static final double STOP_SPEED = 0.0; 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; @@ -93,6 +143,7 @@ public class Constants { 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 @@ -101,6 +152,109 @@ public class Constants { // height } + public static class Auton { + /* + * Distance dead reckoning constants + */ + public static final double POS1_DIST1 = 109; + public static final double POS1_TURN1 = 60; + public static final double POS1_DIST2 = 0; + + // constants for position 2 + public static final double POS2_DIST1 = 140; + public static final double POS2_TURN1 = 60; + public static final double POS2_DIST2 = 0; + + // constants for position 3 + public static final double POS3_DIST1 = 0; + public static final double POS3_TURN1 = 90; + public static final double POS3_DIST2 = 35.5; + public static final double POS3_TURN2 = -90; + public static final double POS3_DIST3 = 0; + + // constants for position 4 + public static final double POS4_DIST1 = 0; + public static final double POS4_TURN1 = -90; + public static final double POS4_DIST2 = 18.5; + public static final double POS4_TURN2 = 90; + public static final double POS4_DIST3 = 0; + + // constants for position 5 + public static final double POS5_DIST1 = 0; + public static final double POS5_TURN1 = -90; + public static final double POS5_DIST2 = 72.5; + public static final double POS5_TURN2 = 90; + public static final double POS5_DIST3 = 0; + public static final double DRIVE_MAX_TIMEOUT = 3.0; + public static final double TURN_MAX_TIMEOUT = 5.0; + + /* + * Time dead Reckoning constants + */ + public static final double POS1_DIST1_TIME = 109; + public static final double POS1_DRIVE_MAXSPEED = 0.5; + public static final double POS1_TURN1_TIME = 60; + public static final double POS1_TURN_MAXSPEED = 0.5; + public static final double POS1_DIST2_TIME = 0; + + // constants for position 2 + + public static final double POS2_DIST1_TIME = 109; + public static final double POS2_DRIVE_MAXSPEED = 0.5; + public static final double POS2_TURN1_TIME = 60; + public static final double POS2_TURN_MAXSPEED = 0.5; + public static final double POS2_DIST2_TIME = 0; + + // constants for position 3 + + public static final double POS3_DIST1_TIME = 109; + public static final double POS3_DRIVE_MAXSPEED = 0.5; + public static final double POS3_TURN1_TIME = 60; + public static final double POS3_TURN_MAXSPEED = 0.5; + public static final double POS3_DIST2_TIME = 0; + // constants for position 4 + + public static final double POS4_DIST1_TIME = 109; + public static final double POS4_DRIVE_MAXSPEED = 0.5; + public static final double POS4_TURN1_TIME = 60; + public static final double POS4_TURN_MAXSPEED = 0.5; + public static final double POS4_DIST2_TIME = 0; + // constants for position 5 + + public static final double POS5_DIST1_TIME = 109; + public static final double POS5_DRIVE_MAXSPEED = 0.5; + public static final double POS5_TURN1_TIME = 60; + public static final double POS5_TURN_MAXSPEED = 0.5; + public static final double POS5_DIST2_TIME = 0; + + // Passing Defenses Constants + + public static final double DEFAULT_SPEED = 0.5; + public static boolean isUsingTime = true; + + // dead reckoning time and speed constants for driving through defenses + // 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 { + UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD; + } + public enum Defense { PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; }