X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=d17d1da90c6136948905e7d8fa41b7216a555c11;hb=200caf634c87b7aec67dac297be8073a5acf54c8;hp=db5fbb44b023a31a2f4563ea6a09b93f06985b97;hpb=2c52cb6ef31a26d971f85a61f38550cb036c99d2;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 db5fbb44..d17d1da9 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -33,6 +33,15 @@ public class Constants {
     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 static class Scaler {
@@ -63,18 +72,33 @@ public class Constants {
   }
 
   public static class IntakeArm {
-    public static final int PORT = 0;
-    public static final int CHEVAL_DE_FRISE_HAND_PORT = 1;
-
+    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 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 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 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;
   }
 }