1 package org
.usfirst
.frc
.team3501
.robot
;
3 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
4 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
.Value
;
5 import edu
.wpi
.first
.wpilibj
.SPI
;
8 * The Constants stores constant values for all subsystems. This includes the
9 * port values for motors and sensors, as well as important operational
10 * constants for subsystems such as max and min values.
13 // have two buttons: one for shifting to high gear and the other for shifting to
16 public class Constants
{
17 public static class OI
{
18 public final static int XBOX_CONTROLLER_PORT
= 0;
19 public static final int GAME_PAD_PORT
= 2;
21 // Xbox Controller Ports
22 public final static int SHIFT_LOW_PORT
= 9;
23 public final static int SHIFT_HIGH_PORT
= 10;
24 public final static int RUN_INTAKE_PORT
= 6;
25 public final static int REVERSE_INTAKE_PORT
= 8;
26 public final static int RUN_INDEXWHEEL_PORT
= 5;
27 public final static int REVERSE_INDEXWHEEL_PORT
= 7;
28 public static final int BRAKE_CANTALONS_PORT
= 1;
29 public static final int COAST_CANTALONS_PORT
= 3;
30 public static final int CLIMB_PORT
= 4;
31 public static final int STOP_CLIMB_PORT
= 2;
34 public final static int RUN_FLYWHEEL_PORT
= 1;
35 public static final int STOP_FLYWHEEL_PORT
= 3;
36 public static final int REVERSE_FLYWHEEL_PORT
= 4;
37 public static final int INCREASE_SHOOTER_SPEED_PORT
= 8;
38 public static final int DECREASE_SHOOTER_SPEED_PORT
= 7;
40 public static final int RESET_SHOOTER_SPEED_PORT
= 2;
41 public static final int SHIFT_GEAR_MANIPULATOR_HIGH_PORT
= 6;
42 public static final int SHIFT_GEAR_MANIPULATOR_LOW_PORT
= 5;
44 // 5 is piston out (gear manipulator)
45 // 6 is piston in (gear manipulator)
49 public static class Shooter
{
51 public static final int FLY_WHEEL1
= 5;
52 public static final int FLY_WHEEL2
= 6;
53 public static final int INDEX_WHEEL
= 7;
55 public final static int HALL_EFFECT_PORT
= 9;
58 public static class DriveTrain
{
59 public static final int PISTON_MODULE
= 10;
60 public static final int GEAR_MANIPULATOR_PISTON_FORWARD
= 4,
61 GEAR_MANIPULATOR_PISTON_REVERSE
= 5;
63 public static final int DRIVETRAIN_GEAR_FORWARD
= 0,
64 DRIVETRAIN_GEAR_REVERSE
= 1;
66 public static final Value FORWARD_PISTON_VALUE
= DoubleSolenoid
.Value
.kForward
;
67 public static final Value REVERSE_PISTON_VALUE
= DoubleSolenoid
.Value
.kReverse
;
70 public static final int FRONT_LEFT
= 1;
71 public static final int FRONT_RIGHT
= 3;
72 public static final int REAR_LEFT
= 2;
73 public static final int REAR_RIGHT
= 4;
76 public static final int ENCODER_LEFT_A
= 1;
77 public static final int ENCODER_LEFT_B
= 0;
78 public static final int ENCODER_RIGHT_A
= 2;
79 public static final int ENCODER_RIGHT_B
= 3;
81 public static final SPI
.Port GYRO_PORT
= SPI
.Port
.kOnboardCS0
;
84 public static class Intake
{
85 public static final int INTAKE_ROLLER_PORT
= 8;
88 public static class Climber
{
89 public static final int WINCH_PORT
= 0;
92 public static enum Direction
{
93 LEFT
, RIGHT
, DOWN
, UP
, FORWARD
, BACKWARD
;