X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=ebef7502d1b0dcf1fe63ea25ee3f2cd2f11b01c6;hb=b378dfef28369af926b17f5e4bbe8ea4b26d9769;hp=bbc7a3b88b420a49f786ffe9f6582cde1ec33f0d;hpb=01b9b0ec6d379fdf2d18ecf73d20c1b8298d06c4;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 bbc7a3b8..ebef7502 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 @@ -12,250 +10,128 @@ 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; public final static int RIGHT_STICK_PORT = 1; - 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; + // 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 = 1; - public static final int FRONT_RIGHT = 4; - public static final int REAR_LEFT = 2; - public static final int REAR_RIGHT = 3; + 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 = 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 final static int ENCODER_RIGHT_A = 3; + public final static int ENCODER_RIGHT_B = 4; - public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) - / 256; + 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; + 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 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 = 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 = 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 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; - } + 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; + + 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 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 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 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 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; + // 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; } }