X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FConstants.java;h=fe96c4b94a44d6344a00f1766666338832527689;hb=22a248cfa45e720eb551c4475a3f85b098162939;hp=f8c56b762d95a3ce4092a945c3e8051c18da05cd;hpb=f8bfcc62a43e76e355b581152ef9710c2fb8cd58;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 f8c56b76..fe96c4b9 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -18,20 +18,45 @@ public class Constants { public final static int LEFT_STICK_PORT = 0; public final static int RIGHT_STICK_PORT = 1; - public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1; - - public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1; - public final static int RIGHT_JOYSTICK_THUMB_PORT = 2; - public final static int RIGHT_JOYSTICK_SHOOT_PORT = 3; + // 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 = 6; - public static final int REAR_LEFT = 2; - public static final int REAR_RIGHT = 5; + 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 = 1; + public static final int DRIVE_REAR_LEFT = 2; + public static final int DRIVE_FRONT_RIGHT = 6; + public static final int DRIVE_REAR_RIGHT = 5; + + // 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; @@ -39,12 +64,8 @@ public class Constants { public final static int ENCODER_RIGHT_A = 3; public final static int ENCODER_RIGHT_B = 4; - public static final int LEFT_MODULE = PCM_MODULE_B; - public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5; - public static final int RIGHT_MODULE = PCM_MODULE_B; - public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 1; - - 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 encoderTolerance = 8.0; @@ -52,59 +73,69 @@ public class Constants { // Gearing constants public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward; public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse; - - public static final double PASS_DEFENSE_TIMEOUT = 10; // find this - } - - public static class Scaler { - // Piston channels - public final static int FORWARD_CHANNEL = 6; - public final static int REVERSE_CHANNEL = 0; - - // 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 CATAPULT1_MODULE = PCM_MODULE_B; - public static final int CATAPULT1_FORWARD = 0; - public static final int CATAPULT1_REVERSE = 6; - public static final int CATAPULT2_MODULE = PCM_MODULE_B; - public static final int CATAPULT2_FORWARD = 1; - public static final int CATAPULT2_REVERSE = 7;// TODO Determine actual - // shooter ports - - public static final Value shoot = Value.kForward; - public static final Value reset = Value.kReverse; + 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 + + // TODO: test for this time + } public static class IntakeArm { - public static final int ROLLER_PORT = 3; + public static final int INTAKE_ROLLER_PORT = 8; // for pistons - public static final int LEFT_FORWARD = 0; - public static final int LEFT_REVERSE = 1; - - public static final int RIGHT_FORWARD = 2; - public static final int RIGHT_REVERSE = 3; + 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 = 0.5; - public static final double OUTPUT_SPEED = -0.5; + public static final double INTAKE_SPEED = 0.7; + public static final double OUTPUT_SPEED = -0.7; + } + + 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, CHIVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; } }