X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=ebef7502d1b0dcf1fe63ea25ee3f2cd2f11b01c6;hb=b378dfe;hp=89b4976fd4c5d8f231989d273eb61f218ca02f3a;hpb=215ceee1aac3688648b983f57b8a2194e39691d1;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 89b4976f..ebef7502 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
@@ -9,78 +10,128 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
  */
 
 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;
     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;
+
+    // Left Joystick
+    public final static int LEFT_JOYSTICK_GEAR_SHIFT_PORT = 1;
+    public final static int LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT = 3;
+    public final static int LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT = 5;
+    public final static int LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT = 4;
+    public final static int LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT = 6;
+    public final static int LEFT_JOYSTICK_TOGGLE_FRONT_PORT = 7;
+
+    // Right Joystick
+    public final static int RIGHT_JOYSTICK_INTAKE_PORT = 1;
+    public final static int RIGHT_JOYSTICK_OUTTAKE_1_PORT = 3;
+    public final static int RIGHT_JOYSTICK_OUTTAKE_2_PORT = 4;
+    public final static int RIGHT_JOYSTICK_SHOOTER_UP_PORT = 2;
+    public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT = 5;
+    public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT = 6;
+
   }
 
   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 TANK = 0;
+    public static final int ARCADE = 1;
+    public static final int DRIVE_TYPE = TANK;
+
+    // Limits changes in speed during joystick driving
+    public static final double kADJUST = 8;
+
+    // Drivetrain Motor related ports
+    public static final int DRIVE_FRONT_LEFT = 6;
+    public static final int DRIVE_REAR_LEFT = 5;
+    public static final int DRIVE_FRONT_RIGHT = 1;
+    public static final int DRIVE_REAR_RIGHT = 2;
+
+    // Drivetrain shifter related ports
+    public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
+    public static final int LEFT_SHIFT_FORWARD = 6;
+    public static final int LEFT_SHIFT_REVERSE = 3;
+    public static final int RIGHT_SHIFT_MODULE = PCM_MODULE_B;
+    public static final int RIGHT_SHIFT_FORWARD = 2;
+    public static final int RIGHT_SHIFT_REVERSE = 7;
 
     // 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 = 3;
+    public final static int ENCODER_RIGHT_B = 4;
 
-  public static class Scaler {
-    // Piston channels
-    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;
 
-    // Winch port
-    public final static int WINCH_MOTOR = 0;
+    public static double kp = 0.013, ki = 0.000015, kd = -0.002;
+    public static double encoderTolerance = 8.0;
+
+    // Gearing constants
+    public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
+    public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
   }
 
   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 ANGLE_ADJUSTER_PORT = 0;
-
-    public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
-    public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
+    public static final int CATAPULT1_MODULE = PCM_MODULE_B;
+    public static final int CATAPULT1_FORWARD = 4;
+    public static final int CATAPULT1_REVERSE = 1;
+    public static final int CATAPULT2_MODULE = PCM_MODULE_A;
+    public static final int CATAPULT2_FORWARD = 0;
+    public static final int CATAPULT2_REVERSE = 1;
 
-    // Encoder port
-    public static final int ENCODER_PORT_A = 0;
-    public static final int ENCODER_PORT_B = 0;
-
-    public static enum State {
-      RUNNING, STOPPED;
-    }
+    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 {
-    public static final int PORT = 0;
-    public static final int CHEVAL_DE_FRISE_HAND_PORT = 1;
+    public static final int INTAKE_ROLLER_PORT = 8;
+
+    // for pistons
+    public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
+    public static final int LEFT_INTAKE_FORWARD = 5;
+    public static final int LEFT_INTAKE_REVERSE = 2;
+    public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_B;
+    public static final int RIGHT_INTAKE_FORWARD = 5;
+    public static final int RIGHT_INTAKE_REVERSE = 0;
 
-    public static final double INTAKE_SPEED = 0.5;
-    public static final double OUTPUT_SPEED = -0.5;
+    public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+    public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
+
+    public static final int IN = 1;
+    public static final int STOP = 0;
+    public static final int OUT = -1;
+
+    // for roller
+    public static final double INTAKE_SPEED = 0.7;
+    public static final double OUTPUT_SPEED = -0.7;
   }
 
-  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 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 static class Auton {
+    // Defense crossing speeds from -1 to 1
+    public static final double DEFAULT_SPEED = 0.3;
+    public static final double MOAT_SPEED = 0.6;
+    public static final double ROCK_WALL_SPEED = 0.8;
+    public static final double ROUGH_TERRAIN_SPEED = 0.7;
+    public static final double RAMPART_SPEED = 0.4;
+    public static final double LOW_BAR_SPEED = 0.5;
+
+    // Defense crossing times in seconds
+    public static final double DEFAULT_TIME = 10.0;
+    public static final double MOAT_TIME = 7.0;
+    public static final double ROCK_WALL_TIME = 8.0;
+    public static final double ROUGH_TERRAIN_TIME = 6.0;
+    public static final double RAMPART_TIME = 10.0;
+    public static final double LOW_BAR_TIME = 6.0;
+
+    // Time to wait before shooting in seconds
+    public static final double WAIT_TIME = 1.0;
   }
 
   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, CHIVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
   }
 }