change gyro from old imu to new adx imu

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / Constants.java

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 7c9d216e382645c5e9e4086c163e298759e40684..d8af3dbe5fb0d573242c861ae0a809568eb28f8a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -1,5 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
+import edu.wpi.first.wpilibj.SPI;
+
 /**
  * The Constants stores constant values for all subsystems. This includes the
  * port values for motors and sensors, as well as important operational
@@ -11,7 +13,6 @@ public class Constants {
     public final static int LEFT_STICK_PORT = 0;
     public final static int RIGHT_STICK_PORT = 1;
     public final static int TOGGLE_WINCH_PORT = 0;
-
     public final static int TOGGLE_FLYWHEEL_PORT = 0;
     public final static int TOGGLE_INDEXWHEEL_PORT = 0;
   }
@@ -20,6 +21,10 @@ public class Constants {
     // MOTOR CONTROLLERS
     public static final int FLY_WHEEL = 0;
     public static final int INDEX_WHEEL = 0;
+    public final static int TOGGLE_WINCH_PORT = 0;
+
+    public final static int TOGGLE_FLYWHEEL_PORT = 0;
+    public final static int TOGGLE_INDEXWHEEL_PORT = 0;
   }
 
   public static class DriveTrain {
@@ -30,16 +35,21 @@ public class Constants {
     public static final int REAR_RIGHT = 4;
 
     // ENCODERS
-    public static final int ENCODER_LEFT_A = 0;
-    public static final int ENCODER_LEFT_B = 1;
+    public static final int ENCODER_LEFT_A = 1;
+    public static final int ENCODER_LEFT_B = 0;
     public static final int ENCODER_RIGHT_A = 2;
     public static final int ENCODER_RIGHT_B = 3;
+
+    public static final SPI.Port GYRO_PORT = SPI.Port.kOnboardCS0;
   }
 
   public static class Climber {
     // MOTOR CONTROLLERS
     public static final int MOTOR_VAL = 1;
+  }
 
+  public static class Intake {
+    public static final int INTAKE_ROLLER_PORT = 0;
   }
 
   public static enum Direction {