X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=d34a08e87e56fb457aa2544f9cf0bf3d420b82da;hb=e4fbab026f4a68a4a238839ae2295c56c1134434;hp=4ad8a4bf0be8bb5ded68e636dd9c2ee2910a2ec2;hpb=c63ba9b9649deb7b4441f318a578c638cb26ebb9;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 4ad8a4bf..d34a08e8 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -2,8 +2,6 @@ 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 @@ -12,6 +10,9 @@ import edu.wpi.first.wpilibj.I2C.Port; */ public class Constants { + public final static int PCM_MODULE_A = 9; + public final static int PCM_MODULE_B = 10; + public static class OI { // Computer Ports public final static int LEFT_STICK_PORT = 0; @@ -43,9 +44,9 @@ public class Constants { 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; @@ -53,19 +54,15 @@ public class Constants { 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; - 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 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 LEFT_FORWARD = 6, LEFT_REVERSE = 5, + RIGHT_FORWARD = 0, RIGHT_REVERSE = 1; public static double time = 0; // Gearing constants @@ -79,8 +76,8 @@ 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; @@ -98,51 +95,17 @@ 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_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.kReverse; - public static final Value closed = Value.kForward; - - public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP; - - public static enum State { - RUNNING, STOPPED; - } - } - - public static class DeadReckoning { - public static final double DEFAULT_SPEED = 0.5; - public static boolean isUsingTimeToPassDefense = 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; - + public static final int CATAPULT1_MODULE = PCM_MODULE_A; + public static final int CATAPULT1_FORWARD = 0; + public static final int CATAPULT1_REVERSE = 1; + public static final int CATAPULT2_MODULE = PCM_MODULE_B; + public static final int CATAPULT2_FORWARD = 2; + public static final int CATAPULT2_REVERSE = 3;// TODO Determine actual + // shooter ports + + public static final Value shoot = Value.kForward; + public static final Value reset = Value.kReverse; + public static final double WAIT_TIME = 2.0; // In seconds } public static class IntakeArm { @@ -154,6 +117,7 @@ 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 { @@ -173,6 +137,105 @@ 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 final boolean IS_USING_TIME = 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; }