[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java

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
 * port values for motors and sensors, as well as important operational
 * constants for subsystems such as max and min values.
 */

public class Constants {
  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 = 1;
    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 = 1;
    public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;

    public final static int TOGGLE_SCALING_PORT = 0;

  }

  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;

    // 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 = 1;

    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 = 1, LEFT_REVERSE = 2,
        RIGHT_FORWARD = 9, RIGHT_REVERSE = 10;
    public static double time = 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 = 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 PORT = 0;
    public static final int PUNCH_FORWARD = 5;
    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 RIGHT_HOOD_FORWARD = 2;
    public static final int RIGHT_HOOD_REVERSE = 4;
    public static final int LEFT_HOOD_FORWARD = 4;
    public static final int LEFT_HOOD_REVERSE = 2;

    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 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 final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
  }

  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 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 final boolean IS_USING_TIME = 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;
  }

  public enum Defense {
    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
  }
}
Commit	Line	Data
38a404b3 KZ	1	package org.usfirst.frc.team3501.robot;
38a404b3 KZ	2
9b10474d	3	import edu.wpi.first.wpilibj.DoubleSolenoid;
2a099bc6	4	import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
0262918c E	5	import edu.wpi.first.wpilibj.I2C;
0262918c E	6	import edu.wpi.first.wpilibj.I2C.Port;
9b10474d	7
38a404b3 KZ	8	/**
	9	* The Constants stores constant values for all subsystems. This includes the
	10	* port values for motors and sensors, as well as important operational
	11	* constants for subsystems such as max and min values.
	12	*/
	13
	14	public class Constants {
200caf63 KZ	15	public static class OI {
	16	// Computer Ports
	17	public final static int LEFT_STICK_PORT = 0;
	18	public final static int RIGHT_STICK_PORT = 1;
2c9bcd75 CZ	19
	20	public final static int PASS_PORTCULLIS_PORT = 0;
	21	public final static int PASS_CHEVAL_DE_FRISE_PORT = 0;
52ef246c	22	public final static int PASS_DRAWBRIDGE_PORT = 0;
2c9bcd75 CZ	23	public final static int PASS_SALLYPORT_PORT = 0;
	24
	25	public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0;
	26	public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0;
	27	public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0;
	28	public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0;
	29
074407dc	30	public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1;
52ef246c KZ	31	public final static int SPIN1_PORT = 4;
52ef246c KZ	32	public final static int SPIN2_PORT = 5;
2c9bcd75 CZ	33	public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
	34	public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;
	35
074407dc	36	public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1;
2c9bcd75 CZ	37	public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
2c9bcd75 CZ	38
52ef246c KZ	39	public final static int TOGGLE_SCALING_PORT = 0;
52ef246c KZ	40
200caf63	41	}
38a404b3	42
200caf63 KZ	43	public static class DriveTrain {
200caf63 KZ	44	// Drivetrain Motor Related Ports
33141cdd	45	public static final int FRONT_LEFT = 1;
faabd6f8	46	public static final int FRONT_RIGHT = 6;
33141cdd	47	public static final int REAR_LEFT = 2;
faabd6f8	48	public static final int REAR_RIGHT = 5;
27615e61	49
200caf63	50	// Encoder related ports
33141cdd KZ	51	public final static int ENCODER_LEFT_A = 0;
	52	public final static int ENCODER_LEFT_B = 1;
	53	public final static int ENCODER_RIGHT_A = 9;
	54	public final static int ENCODER_RIGHT_B = 8;
45bdf5b9	55
0b469cd3 HD	56	public final static int FORWARD_CHANNEL = 0;
	57	public final static int REVERSE_CHANNEL = 1;
	58
	59	public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
33141cdd	60
fb75626b KZ	61	public static double kp = 0.013, ki = 0.000015, kd = -0.002;
	62	public static double gp = 0.018, gi = 0.000015, gd = 0;
	63	public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
	64
33141cdd	65	public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
0b469cd3 HD	66	public static final int LEFT_FORWARD = 1, LEFT_REVERSE = 2,
0b469cd3 HD	67	RIGHT_FORWARD = 9, RIGHT_REVERSE = 10;
33141cdd	68	public static double time = 0;
2a099bc6 KZ	69
	70	// Gearing constants
	71	public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
	72	public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
	73
54c588d9 CZ	74	public static boolean inverted = false;
54c588d9 CZ	75
9d518a5c	76	public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
200caf63	77	}
ecf2c4a8	78
200caf63 KZ	79	public static class Scaler {
200caf63 KZ	80	// Piston channels
faabd6f8 KZ	81	public final static int FORWARD_CHANNEL = 6;
faabd6f8 KZ	82	public final static int REVERSE_CHANNEL = 0;
ecf2c4a8	83
200caf63 KZ	84	// Winch port
200caf63 KZ	85	public final static int WINCH_MOTOR = 0;
8b905afe	86
694c9fc9	87	// Winch speeds
cef820ab	88	public final static double WINCH_STOP_SPEED = 0.0;
eab4ce91	89	public final static double SCALE_SPEED = 0;
39a39f43	90	public final static double SECONDS_TO_CLAMP = 2.0;
52ef246c	91
edf10851	92	// Winch timeout
eab4ce91	93	public final static int SECONDS_TO_SCALE = 0;
edf10851	94
52ef246c KZ	95	public static boolean SCALING = false;
52ef246c KZ	96
200caf63	97	}
38a404b3	98
200caf63 KZ	99	public static class Shooter {
200caf63 KZ	100	public static final int PORT = 0;
faabd6f8	101	public static final int PUNCH_FORWARD = 5;
071ab315	102	public static final int PUNCH_REVERSE = 1;
200caf63	103	public static final int ANGLE_ADJUSTER_PORT = 0;
2c52cb6e	104
200caf63 KZ	105	public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
200caf63 KZ	106	public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
da0c4bd8	107
200caf63 KZ	108	// Encoder port
	109	public static final int ENCODER_PORT_A = 0;
	110	public static final int ENCODER_PORT_B = 0;
faabd6f8 KZ	111	public static final int RIGHT_HOOD_FORWARD = 2;
	112	public static final int RIGHT_HOOD_REVERSE = 4;
	113	public static final int LEFT_HOOD_FORWARD = 4;
	114	public static final int LEFT_HOOD_REVERSE = 2;
071ab315	115
ec821916 CZ	116	public static final double DEFAULT_SHOOTER_SPEED = 0.5;
ec821916 CZ	117
5930d874 CZ	118	public static final Value open = Value.kReverse;
5930d874 CZ	119	public static final Value closed = Value.kForward;
2c52cb6e	120
0262918c E	121	public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
0262918c E	122
200caf63 KZ	123	public static enum State {
	124	RUNNING, STOPPED;
	125	}
	126	}
40348cab	127
200caf63 KZ	128	public static class IntakeArm {
	129	public static final int ROLLER_PORT = 0;
	130	public static final int ARM_PORT = 1;
	131	public static final int POT_CHANNEL = 0;
	132	public static final double INTAKE_SPEED = 0.5;
	133	public static final double OUTPUT_SPEED = -0.5;
	134	public final static double FULL_RANGE = 270.0; // in degrees
	135	public final static double OFFSET = -135.0; // in degrees
	136	public static final double ZERO_ANGLE = 0;
4f0ad0ba	137	public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
200caf63	138	}
29f5cd04	139
200caf63 KZ	140	public static class DefenseArm {
	141	// Potentiometer related ports
	142	public static final int ARM_CHANNEL = 0;
	143	public static final int ARM_PORT = 0;
	144	public static final int HAND_PORT = 1;
	145	public static final int HAND_CHANNEL = 1;
	146	public final static double FULL_RANGE = 270.0; // in degrees
	147	public final static double OFFSET = -135.0; // in degrees
72fc3c9b	148
200caf63 KZ	149	public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
	150	// level
	151	public final static double ARM_LENGTH = 0; // TODO: find actual length
	152	public final static double HAND_LENGTH = 0; // TODO: find actual length
	153	public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
	154	// height
	155	}
1826a8dc	156
9728080f KZ	157	public static class Auton {
	158	/*
	159	* Distance dead reckoning constants
	160	*/
	161	public static final double POS1_DIST1 = 109;
	162	public static final double POS1_TURN1 = 60;
	163	public static final double POS1_DIST2 = 0;
	164
	165	// constants for position 2
	166	public static final double POS2_DIST1 = 140;
	167	public static final double POS2_TURN1 = 60;
	168	public static final double POS2_DIST2 = 0;
	169
	170	// constants for position 3
	171	public static final double POS3_DIST1 = 0;
	172	public static final double POS3_TURN1 = 90;
	173	public static final double POS3_DIST2 = 35.5;
	174	public static final double POS3_TURN2 = -90;
	175	public static final double POS3_DIST3 = 0;
	176
	177	// constants for position 4
	178	public static final double POS4_DIST1 = 0;
	179	public static final double POS4_TURN1 = -90;
	180	public static final double POS4_DIST2 = 18.5;
	181	public static final double POS4_TURN2 = 90;
	182	public static final double POS4_DIST3 = 0;
	183
	184	// constants for position 5
	185	public static final double POS5_DIST1 = 0;
	186	public static final double POS5_TURN1 = -90;
	187	public static final double POS5_DIST2 = 72.5;
	188	public static final double POS5_TURN2 = 90;
	189	public static final double POS5_DIST3 = 0;
	190	public static final double DRIVE_MAX_TIMEOUT = 3.0;
	191	public static final double TURN_MAX_TIMEOUT = 5.0;
	192
	193	/*
	194	* Time dead Reckoning constants
	195	*/
	196	public static final double POS1_DIST1_TIME = 109;
	197	public static final double POS1_DRIVE_MAXSPEED = 0.5;
	198	public static final double POS1_TURN1_TIME = 60;
	199	public static final double POS1_TURN_MAXSPEED = 0.5;
	200	public static final double POS1_DIST2_TIME = 0;
	201
	202	// constants for position 2
	203
	204	public static final double POS2_DIST1_TIME = 109;
	205	public static final double POS2_DRIVE_MAXSPEED = 0.5;
	206	public static final double POS2_TURN1_TIME = 60;
	207	public static final double POS2_TURN_MAXSPEED = 0.5;
	208	public static final double POS2_DIST2_TIME = 0;
	209
	210	// constants for position 3
	211
	212	public static final double POS3_DIST1_TIME = 109;
	213	public static final double POS3_DRIVE_MAXSPEED = 0.5;
	214	public static final double POS3_TURN1_TIME = 60;
	215	public static final double POS3_TURN_MAXSPEED = 0.5;
	216	public static final double POS3_DIST2_TIME = 0;
	217	// constants for position 4
	218
	219	public static final double POS4_DIST1_TIME = 109;
	220	public static final double POS4_DRIVE_MAXSPEED = 0.5;
221	public static final double POS4_TURN1_TIME = 60;
222	public static final double POS4_TURN_MAXSPEED = 0.5;
223	public static final double POS4_DIST2_TIME = 0;
224	// constants for position 5
225
226	public static final double POS5_DIST1_TIME = 109;
227	public static final double POS5_DRIVE_MAXSPEED = 0.5;
228	public static final double POS5_TURN1_TIME = 60;
229	public static final double POS5_TURN_MAXSPEED = 0.5;
230	public static final double POS5_DIST2_TIME = 0;
600a1a1c KZ	231
	232	// Passing Defenses Constants
	233
	234	public static final double DEFAULT_SPEED = 0.5;
c688e9da	235	public static final boolean IS_USING_TIME = true;
600a1a1c KZ	236
600a1a1c KZ	237	// dead reckoning time and speed constants for driving through defenses
01b9b0ec ME	238	// TODO: find the times it takes to pass each defense
	239	public static final double PASS_ROCK_WALL_TIME = 0;
	240	public static final double PASS_ROCK_WALL_SPEED = 0;
	241	public static final double PASS_ROCK_WALL_DIST = 0;
	242	public static final double PASS_LOW_BAR_TIME = 0;
	243	public static final double PASS_LOW_BAR_SPEED = 0;
	244	public static final double PASS_LOW_BAR_DIST = 0;
	245	public static final double PASS_MOAT_TIME = 0;
	246	public static final double PASS_MOAT_SPEED = 0;
	247	public static final double PASS_MOAT_DIST = 0;
	248	public static final double PASS_RAMPART_TIME = 0;
	249	public static final double PASS_RAMPART_SPEED = 0;
	250	public static final double PASS_RAMPART_DIST = 0;
	251	public static final double PASS_ROUGH_TERRAIN_TIME = 0;
	252	public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
	253	public static final double PASS_ROUGH_TERRAIN_DIST = 0;
9728080f KZ	254	}
9728080f KZ	255
5bc7e25f ME	256	public enum Direction {
	257	UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
	258	}
	259
200caf63 KZ	260	public enum Defense {
	261	PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
	262	}
38a404b3	263	}