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Add buttons to move intake arm.
[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java
CommitLineData
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KZ		 1package org.usfirst.frc.team3501.robot;
2
9b10474d 3import edu.wpi.first.wpilibj.DoubleSolenoid;
2a099bc6 4import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
0262918c
E		 5import edu.wpi.first.wpilibj.I2C;
6import 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
14public 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;
0a179caa
KZ		 31 public final static int LEFT_JOYSTICK_TOP_LEFT_BUTTON = 4;
32 public final static int LEFT_JOYSTICK_TOP_RIGHT_BUTTON = 5;
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CZ		 33 public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
34 public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;
35
0a179caa
KZ		 36 public final static int LEFT_JOYSTICK_BOTTOM_BACK_LEFT_BUTTON = 8;
37 public final static int LEFT_JOYSTICK_BOTTOM_BACK_RIGHT_BUTTON = 9;
38 public final static int LEFT_JOYSTICK_BOTTOM_LEFT_FORWARD_BUTTON = 6;
39 public final static int LEFT_JOYSTICK_BOTTOM_LEFT_BACK_BUTTON = 7;
40 public final static int LEFT_JOYSTICK_BOTTOM_RIGHT_FORWARD_BUTTON = 11;
41 public final static int LEFT_JOYSTICK_BOTTOM_RIGHT_BACK_BUTTON = 10;
42
074407dc 43 public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1;
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CZ		 44 public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
45
52ef246c 46 public final static int TOGGLE_SCALING_PORT = 0;
ee82dd56 47 public final static int TOGGLE_COMPRESSOR_PORT = 12;
52ef246c 48
200caf63 49 }
38a404b3 50
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KZ		 51 public static class DriveTrain {
52 // Drivetrain Motor Related Ports
33141cdd 53 public static final int FRONT_LEFT = 1;
faabd6f8 54 public static final int FRONT_RIGHT = 6;
33141cdd 55 public static final int REAR_LEFT = 2;
faabd6f8 56 public static final int REAR_RIGHT = 5;
27615e61 57
200caf63 58 // Encoder related ports
33141cdd
KZ		 59 public final static int ENCODER_LEFT_A = 0;
60 public final static int ENCODER_LEFT_B = 1;
61 public final static int ENCODER_RIGHT_A = 9;
62 public final static int ENCODER_RIGHT_B = 8;
45bdf5b9 63
0b469cd3
HD		 64 public final static int FORWARD_CHANNEL = 0;
65 public final static int REVERSE_CHANNEL = 1;
66
67 public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
33141cdd 68
fb75626b
KZ		 69 public static double kp = 0.013, ki = 0.000015, kd = -0.002;
70 public static double gp = 0.018, gi = 0.000015, gd = 0;
71 public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
72
33141cdd 73 public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
ee82dd56
HD		 74
75 public static final int MODULE_A_ID = 9, MODULE_B_ID = 10;
8a5f4fa4
HD		 76 public static final int LEFT_FORWARD = 1, LEFT_REVERSE = 5,
77 RIGHT_FORWARD = 0, RIGHT_REVERSE = 6;
ee82dd56 78
33141cdd 79 public static double time = 0;
2a099bc6
KZ		 80
81 // Gearing constants
82 public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
83 public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
84
54c588d9
CZ		 85 public static boolean inverted = false;
86
9d518a5c 87 public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
200caf63 88 }
ecf2c4a8 89
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KZ		 90 public static class Scaler {
91 // Piston channels
faabd6f8
KZ		 92 public final static int FORWARD_CHANNEL = 6;
93 public final static int REVERSE_CHANNEL = 0;
ecf2c4a8 94
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KZ		 95 // Winch port
96 public final static int WINCH_MOTOR = 0;
8b905afe 97
694c9fc9 98 // Winch speeds
cef820ab 99 public final static double WINCH_STOP_SPEED = 0.0;
eab4ce91 100 public final static double SCALE_SPEED = 0;
39a39f43 101 public final static double SECONDS_TO_CLAMP = 2.0;
52ef246c 102
edf10851 103 // Winch timeout
eab4ce91 104 public final static int SECONDS_TO_SCALE = 0;
edf10851 105
52ef246c
KZ		 106 public static boolean SCALING = false;
107
200caf63 108 }
38a404b3 109
200caf63 110 public static class Shooter {
93241e25 111 public static final int PORT = 4;
faabd6f8 112 public static final int PUNCH_FORWARD = 5;
071ab315 113 public static final int PUNCH_REVERSE = 1;
200caf63 114 public static final int ANGLE_ADJUSTER_PORT = 0;
2c52cb6e 115
1e41dfe4
HD		 116 public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kReverse;
117 public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kForward;
da0c4bd8 118
200caf63 119 // Encoder port
1e41dfe4
HD		 120 public static final int ENCODER_PORT_A = 4;
121 public static final int ENCODER_PORT_B = 5;
faabd6f8
KZ		 122 public static final int RIGHT_HOOD_FORWARD = 2;
123 public static final int RIGHT_HOOD_REVERSE = 4;
124 public static final int LEFT_HOOD_FORWARD = 4;
125 public static final int LEFT_HOOD_REVERSE = 2;
071ab315 126
ec821916
CZ		 127 public static final double DEFAULT_SHOOTER_SPEED = 0.5;
128
1e41dfe4
HD		 129 public static final Value open = Value.kForward;
130 public static final Value closed = Value.kReverse;
2c52cb6e 131
0262918c
E		 132 public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
133
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KZ		 134 public static enum State {
135 RUNNING, STOPPED;
136 }
137 }
40348cab 138
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KZ		 139 public static class IntakeArm {
140 public static final int ROLLER_PORT = 0;
0a179caa
KZ		 141 public static final int LEFT_ARM_PORT = 1;
142 public static final int RIGHT_ARM_PORT = 1;
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KZ		 143 public static final int POT_CHANNEL = 0;
144 public static final double INTAKE_SPEED = 0.5;
145 public static final double OUTPUT_SPEED = -0.5;
146 public final static double FULL_RANGE = 270.0; // in degrees
147 public final static double OFFSET = -135.0; // in degrees
148 public static final double ZERO_ANGLE = 0;
4f0ad0ba 149 public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
0a179caa 150 public static final double STOP_INTAKE_ARM_SPEED = 0.0;
200caf63 151 }
29f5cd04 152
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KZ		 153 public static class DefenseArm {
154 // Potentiometer related ports
155 public static final int ARM_CHANNEL = 0;
156 public static final int ARM_PORT = 0;
157 public static final int HAND_PORT = 1;
158 public static final int HAND_CHANNEL = 1;
159 public final static double FULL_RANGE = 270.0; // in degrees
160 public final static double OFFSET = -135.0; // in degrees
72fc3c9b 161
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KZ		 162 public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
163 // level
164 public final static double ARM_LENGTH = 0; // TODO: find actual length
165 public final static double HAND_LENGTH = 0; // TODO: find actual length
166 public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
167 // height
168 }
1826a8dc 169
9728080f
KZ		 170 public static class Auton {
171 /*
172 * Distance dead reckoning constants
173 */
174 public static final double POS1_DIST1 = 109;
175 public static final double POS1_TURN1 = 60;
176 public static final double POS1_DIST2 = 0;
177
178 // constants for position 2
179 public static final double POS2_DIST1 = 140;
180 public static final double POS2_TURN1 = 60;
181 public static final double POS2_DIST2 = 0;
182
183 // constants for position 3
184 public static final double POS3_DIST1 = 0;
185 public static final double POS3_TURN1 = 90;
186 public static final double POS3_DIST2 = 35.5;
187 public static final double POS3_TURN2 = -90;
188 public static final double POS3_DIST3 = 0;
189
190 // constants for position 4
191 public static final double POS4_DIST1 = 0;
192 public static final double POS4_TURN1 = -90;
193 public static final double POS4_DIST2 = 18.5;
194 public static final double POS4_TURN2 = 90;
195 public static final double POS4_DIST3 = 0;
196
197 // constants for position 5
198 public static final double POS5_DIST1 = 0;
199 public static final double POS5_TURN1 = -90;
200 public static final double POS5_DIST2 = 72.5;
201 public static final double POS5_TURN2 = 90;
202 public static final double POS5_DIST3 = 0;
203 public static final double DRIVE_MAX_TIMEOUT = 3.0;
204 public static final double TURN_MAX_TIMEOUT = 5.0;
205
206 /*
207 * Time dead Reckoning constants
208 */
209 public static final double POS1_DIST1_TIME = 109;
210 public static final double POS1_DRIVE_MAXSPEED = 0.5;
211 public static final double POS1_TURN1_TIME = 60;
212 public static final double POS1_TURN_MAXSPEED = 0.5;
213 public static final double POS1_DIST2_TIME = 0;
214
215 // constants for position 2
216
217 public static final double POS2_DIST1_TIME = 109;
218 public static final double POS2_DRIVE_MAXSPEED = 0.5;
219 public static final double POS2_TURN1_TIME = 60;
220 public static final double POS2_TURN_MAXSPEED = 0.5;
221 public static final double POS2_DIST2_TIME = 0;
222
223 // constants for position 3
224
225 public static final double POS3_DIST1_TIME = 109;
226 public static final double POS3_DRIVE_MAXSPEED = 0.5;
227 public static final double POS3_TURN1_TIME = 60;
228 public static final double POS3_TURN_MAXSPEED = 0.5;
229 public static final double POS3_DIST2_TIME = 0;
230 // constants for position 4
231
232 public static final double POS4_DIST1_TIME = 109;
233 public static final double POS4_DRIVE_MAXSPEED = 0.5;
234 public static final double POS4_TURN1_TIME = 60;
235 public static final double POS4_TURN_MAXSPEED = 0.5;
236 public static final double POS4_DIST2_TIME = 0;
237 // constants for position 5
238
239 public static final double POS5_DIST1_TIME = 109;
240 public static final double POS5_DRIVE_MAXSPEED = 0.5;
241 public static final double POS5_TURN1_TIME = 60;
242 public static final double POS5_TURN_MAXSPEED = 0.5;
243 public static final double POS5_DIST2_TIME = 0;
600a1a1c
KZ		 244
245 // Passing Defenses Constants
246
247 public static final double DEFAULT_SPEED = 0.5;
c688e9da 248 public static final boolean IS_USING_TIME = true;
600a1a1c
KZ		 249
250 // dead reckoning time and speed constants for driving through defenses
01b9b0ec
ME		 251 // TODO: find the times it takes to pass each defense
252 public static final double PASS_ROCK_WALL_TIME = 0;
253 public static final double PASS_ROCK_WALL_SPEED = 0;
254 public static final double PASS_ROCK_WALL_DIST = 0;
255 public static final double PASS_LOW_BAR_TIME = 0;
256 public static final double PASS_LOW_BAR_SPEED = 0;
257 public static final double PASS_LOW_BAR_DIST = 0;
258 public static final double PASS_MOAT_TIME = 0;
259 public static final double PASS_MOAT_SPEED = 0;
260 public static final double PASS_MOAT_DIST = 0;
261 public static final double PASS_RAMPART_TIME = 0;
262 public static final double PASS_RAMPART_SPEED = 0;
263 public static final double PASS_RAMPART_DIST = 0;
264 public static final double PASS_ROUGH_TERRAIN_TIME = 0;
265 public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
266 public static final double PASS_ROUGH_TERRAIN_DIST = 0;
9728080f
KZ		 267 }
268
5bc7e25f
ME		 269 public enum Direction {
270 UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
271 }
272
200caf63
KZ		 273 public enum Defense {
274 PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
275 }
38a404b3 276}