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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
9b10474d GK |
3 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
4 | ||
38a404b3 KZ |
5 | /** |
6 | * The Constants stores constant values for all subsystems. This includes the | |
7 | * port values for motors and sensors, as well as important operational | |
8 | * constants for subsystems such as max and min values. | |
9 | */ | |
10 | ||
11 | public class Constants { | |
99d3a628 | 12 | public static class OI { |
1e832616 | 13 | // Computer Ports |
99d3a628 | 14 | public final static int LEFT_STICK_PORT = 0; |
9fb915da | 15 | public final static int RIGHT_STICK_PORT = 1; |
1e832616 | 16 | // Ports on the Joystick |
9fb915da | 17 | public final static int TRIGGER_PORT = 1; |
fcc8d616 KZ |
18 | public final static int DECREMENT_SHOOTER_SPEED_PORT = 2; |
19 | public final static int INCREMENT_SHOOTER_SPEED_PORT = 3; | |
9fb915da | 20 | public final static int SHOOT_PORT = 4; |
1e832616 | 21 | public final static int LOG_PORT = 5; |
99d3a628 | 22 | } |
38a404b3 | 23 | |
99d3a628 | 24 | public static class DriveTrain { |
27615e61 | 25 | // Drivetrain Motor Related Ports |
99d3a628 KZ |
26 | public static final int FRONT_LEFT = 0; |
27 | public static final int FRONT_RIGHT = 0; | |
28 | public static final int REAR_LEFT = 0; | |
29 | public static final int REAR_RIGHT = 0; | |
27615e61 KZ |
30 | |
31 | // Encoder related ports | |
99d3a628 KZ |
32 | public final static int ENCODER_LEFT_A = 3; |
33 | public final static int ENCODER_LEFT_B = 4; | |
34 | public final static int ENCODER_RIGHT_A = 2; | |
35 | public final static int ENCODER_RIGHT_B = 1; | |
45bdf5b9 KZ |
36 | |
37 | private final static double WHEEL_DIAMETER = 6.0; // in inches | |
38 | private final static double PULSES_PER_ROTATION = 256; // in pulses | |
39 | private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches | |
40 | private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches | |
41 | public final static double INCHES_PER_PULSE = (((Math.PI) | |
42 | * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER) | |
43 | * WHEEL_DIAMETER; | |
99d3a628 | 44 | } |
ecf2c4a8 | 45 | |
804d3b6a | 46 | public static class Scaler { |
ecf2c4a8 K |
47 | // Piston channels |
48 | public final static int FORWARD_CHANNEL = 0; | |
49 | public final static int REVERSE_CHANNEL = 0; | |
50 | ||
51 | // Winch port | |
52 | public final static int WINCH_MOTOR = 0; | |
804d3b6a | 53 | } |
38a404b3 | 54 | |
40348cab | 55 | public static class Shooter { |
e9234163 | 56 | public static final int PORT = 0; |
61457366 GK |
57 | public static final int PUNCH_FORWARD_PORT = 0; |
58 | public static final int PUNCH_REVERSE_PORT = 1; | |
ee92234b | 59 | public static final int ANGLE_ADJUSTER_PORT = 0; |
2c52cb6e | 60 | |
9b10474d GK |
61 | public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward; |
62 | public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse; | |
da0c4bd8 | 63 | |
2c52cb6e K |
64 | // Encoder port |
65 | public static final int ENCODER_PORT_A = 0; | |
66 | public static final int ENCODER_PORT_B = 0; | |
67 | ||
da0c4bd8 E |
68 | public static enum State { |
69 | RUNNING, STOPPED; | |
70 | } | |
40348cab E |
71 | } |
72 | ||
29f5cd04 | 73 | public static class IntakeArm { |
a7e06736 SC |
74 | public static final int ROLLER_PORT = 0; |
75 | public static final int INTAKE_PORT = 1; | |
e780e49e | 76 | public static final int INTAKE_CHANNEL = 0; |
29f5cd04 GK |
77 | public static final double INTAKE_SPEED = 0.5; |
78 | public static final double OUTPUT_SPEED = -0.5; | |
e780e49e SC |
79 | public final static double FULL_RANGE = 270.0; // in degrees |
80 | public final static double OFFSET = -135.0; // in degrees | |
29f5cd04 GK |
81 | } |
82 | ||
1826a8dc YA |
83 | public static class DefenseArm { |
84 | // Potentiometer related ports | |
85 | public static final int ARM_CHANNEL = 0; | |
86 | public static final int ARM_PORT = 0; | |
1826a8dc | 87 | public static final int HAND_PORT = 1; |
af03927f | 88 | public static final int HAND_CHANNEL = 1; |
ae33aa8d SC |
89 | public final static double FULL_RANGE = 270.0; // in degrees |
90 | public final static double OFFSET = -135.0; // in degrees | |
91 | public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 level | |
1826a8dc YA |
92 | } |
93 | ||
d165a72f YA |
94 | public enum Defense { |
95 | PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; | |
96 | } | |
38a404b3 | 97 | } |