[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 = 0;
    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 = 0;
    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 = 4;
    public static final int REAR_LEFT = 2;
    public static final int REAR_RIGHT = 3;

    // 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 = 0;

    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 = 0, LEFT_REVERSE = 1,
        RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
    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 = 0;
    public final static int REVERSE_CHANNEL = 1;

    // 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 = 0;
    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 HOOD_FORWARD = 2;
    public static final int HOOD_REVERSE = 3;

    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 DeadReckoning {
    public static final double DEFAULT_SPEED = 0.5;
    public static boolean isUsingTimeToPassDefense = true;

    // dead reckoning time and speed constants for driving through defenses
    public static double passRockWallTime = 0;
    public static double passRockWallSpeed = 0;
    public static double passRockWallDistance = 0;
    public static double passLowBarTime = 0;
    public static double passLowBarSpeed = 0;
    public static double passLowBarDistance = 0;
    public static double passMoatTime = 0;
    public static double passMoatSpeed = 0;
    public static double passMoatDistance = 0;
    public static double passRampartTime = 0;
    public static double passRampartSpeed = 0;
    public static double passRampartDistance = 0;
    public static double passRoughTerrainTime = 0;
    public static double passRoughTerrainSpeed = 0;
    public static double passRoughTerrainDistance = 0;

  }

  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 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;
  }

  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
	30	public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0;
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
	36	public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
	37	public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
	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 KZ	45	public static final int FRONT_LEFT = 1;
	46	public static final int FRONT_RIGHT = 4;
	47	public static final int REAR_LEFT = 2;
	48	public static final int REAR_RIGHT = 3;
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
8058ae1c SC	56	public final static int FORWARD_CHANNEL = 0;
	57	public final static int REVERSE_CHANNEL = 0;
	58
5bc7e25f ME	59	public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
5bc7e25f ME	60	/ 256;
33141cdd	61
fb75626b KZ	62	public static double kp = 0.013, ki = 0.000015, kd = -0.002;
	63	public static double gp = 0.018, gi = 0.000015, gd = 0;
	64	public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
	65
33141cdd	66	public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
d9c04720 SC	67	public static final int LEFT_FORWARD = 0, LEFT_REVERSE = 1,
d9c04720 SC	68	RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
33141cdd	69	public static double time = 0;
2a099bc6 KZ	70
	71	// Gearing constants
	72	public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
	73	public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
	74
54c588d9 CZ	75	public static boolean inverted = false;
54c588d9 CZ	76
9d518a5c	77	public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
200caf63	78	}
ecf2c4a8	79
200caf63 KZ	80	public static class Scaler {
	81	// Piston channels
	82	public final static int FORWARD_CHANNEL = 0;
cef820ab	83	public final static int REVERSE_CHANNEL = 1;
ecf2c4a8	84
200caf63 KZ	85	// Winch port
200caf63 KZ	86	public final static int WINCH_MOTOR = 0;
8b905afe	87
694c9fc9	88	// Winch speeds
cef820ab	89	public final static double WINCH_STOP_SPEED = 0.0;
eab4ce91	90	public final static double SCALE_SPEED = 0;
39a39f43	91	public final static double SECONDS_TO_CLAMP = 2.0;
52ef246c	92
edf10851	93	// Winch timeout
eab4ce91	94	public final static int SECONDS_TO_SCALE = 0;
edf10851	95
52ef246c KZ	96	public static boolean SCALING = false;
52ef246c KZ	97
200caf63	98	}
38a404b3	99
200caf63 KZ	100	public static class Shooter {
200caf63 KZ	101	public static final int PORT = 0;
071ab315 KZ	102	public static final int PUNCH_FORWARD = 0;
071ab315 KZ	103	public static final int PUNCH_REVERSE = 1;
200caf63	104	public static final int ANGLE_ADJUSTER_PORT = 0;
2c52cb6e	105
200caf63 KZ	106	public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
200caf63 KZ	107	public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
da0c4bd8	108
200caf63 KZ	109	// Encoder port
	110	public static final int ENCODER_PORT_A = 0;
	111	public static final int ENCODER_PORT_B = 0;
071ab315 KZ	112	public static final int HOOD_FORWARD = 2;
	113	public static final int HOOD_REVERSE = 3;
	114
ec821916 CZ	115	public static final double DEFAULT_SHOOTER_SPEED = 0.5;
ec821916 CZ	116
5930d874 CZ	117	public static final Value open = Value.kReverse;
5930d874 CZ	118	public static final Value closed = Value.kForward;
2c52cb6e	119
0262918c E	120	public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
0262918c E	121
200caf63 KZ	122	public static enum State {
	123	RUNNING, STOPPED;
	124	}
	125	}
40348cab	126
585b7a9e ME	127	public static class DeadReckoning {
585b7a9e ME	128	public static final double DEFAULT_SPEED = 0.5;
3ba49259	129	public static boolean isUsingTimeToPassDefense = true;
9d518a5c CZ	130
	131	// dead reckoning time and speed constants for driving through defenses
	132	public static double passRockWallTime = 0;
	133	public static double passRockWallSpeed = 0;
	134	public static double passRockWallDistance = 0;
	135	public static double passLowBarTime = 0;
	136	public static double passLowBarSpeed = 0;
	137	public static double passLowBarDistance = 0;
	138	public static double passMoatTime = 0;
	139	public static double passMoatSpeed = 0;
	140	public static double passMoatDistance = 0;
	141	public static double passRampartTime = 0;
	142	public static double passRampartSpeed = 0;
	143	public static double passRampartDistance = 0;
	144	public static double passRoughTerrainTime = 0;
	145	public static double passRoughTerrainSpeed = 0;
	146	public static double passRoughTerrainDistance = 0;
	147
585b7a9e ME	148	}
585b7a9e ME	149
200caf63 KZ	150	public static class IntakeArm {
	151	public static final int ROLLER_PORT = 0;
	152	public static final int ARM_PORT = 1;
	153	public static final int POT_CHANNEL = 0;
	154	public static final double INTAKE_SPEED = 0.5;
	155	public static final double OUTPUT_SPEED = -0.5;
	156	public final static double FULL_RANGE = 270.0; // in degrees
	157	public final static double OFFSET = -135.0; // in degrees
	158	public static final double ZERO_ANGLE = 0;
	159	}
29f5cd04	160
200caf63 KZ	161	public static class DefenseArm {
	162	// Potentiometer related ports
	163	public static final int ARM_CHANNEL = 0;
	164	public static final int ARM_PORT = 0;
	165	public static final int HAND_PORT = 1;
	166	public static final int HAND_CHANNEL = 1;
	167	public final static double FULL_RANGE = 270.0; // in degrees
	168	public final static double OFFSET = -135.0; // in degrees
72fc3c9b	169
200caf63 KZ	170	public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
	171	// level
	172	public final static double ARM_LENGTH = 0; // TODO: find actual length
	173	public final static double HAND_LENGTH = 0; // TODO: find actual length
	174	public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
	175	// height
	176	}
1826a8dc	177
9728080f KZ	178	public static class Auton {
	179	/*
	180	* Distance dead reckoning constants
	181	*/
	182	public static final double POS1_DIST1 = 109;
	183	public static final double POS1_TURN1 = 60;
	184	public static final double POS1_DIST2 = 0;
	185
	186	// constants for position 2
	187	public static final double POS2_DIST1 = 140;
	188	public static final double POS2_TURN1 = 60;
	189	public static final double POS2_DIST2 = 0;
	190
	191	// constants for position 3
	192	public static final double POS3_DIST1 = 0;
	193	public static final double POS3_TURN1 = 90;
	194	public static final double POS3_DIST2 = 35.5;
	195	public static final double POS3_TURN2 = -90;
	196	public static final double POS3_DIST3 = 0;
	197
	198	// constants for position 4
	199	public static final double POS4_DIST1 = 0;
	200	public static final double POS4_TURN1 = -90;
	201	public static final double POS4_DIST2 = 18.5;
	202	public static final double POS4_TURN2 = 90;
	203	public static final double POS4_DIST3 = 0;
	204
	205	// constants for position 5
	206	public static final double POS5_DIST1 = 0;
	207	public static final double POS5_TURN1 = -90;
	208	public static final double POS5_DIST2 = 72.5;
	209	public static final double POS5_TURN2 = 90;
	210	public static final double POS5_DIST3 = 0;
	211	public static final double DRIVE_MAX_TIMEOUT = 3.0;
	212	public static final double TURN_MAX_TIMEOUT = 5.0;
	213
	214	/*
	215	* Time dead Reckoning constants
	216	*/
	217	public static final double POS1_DIST1_TIME = 109;
	218	public static final double POS1_DRIVE_MAXSPEED = 0.5;
	219	public static final double POS1_TURN1_TIME = 60;
	220	public static final double POS1_TURN_MAXSPEED = 0.5;
	221	public static final double POS1_DIST2_TIME = 0;
	222
	223	// constants for position 2
	224
	225	public static final double POS2_DIST1_TIME = 109;
	226	public static final double POS2_DRIVE_MAXSPEED = 0.5;
	227	public static final double POS2_TURN1_TIME = 60;
	228	public static final double POS2_TURN_MAXSPEED = 0.5;
	229	public static final double POS2_DIST2_TIME = 0;
	230
	231	// constants for position 3
	232
	233	public static final double POS3_DIST1_TIME = 109;
	234	public static final double POS3_DRIVE_MAXSPEED = 0.5;
	235	public static final double POS3_TURN1_TIME = 60;
	236	public static final double POS3_TURN_MAXSPEED = 0.5;
	237	public static final double POS3_DIST2_TIME = 0;
	238	// constants for position 4
	239
	240	public static final double POS4_DIST1_TIME = 109;
	241	public static final double POS4_DRIVE_MAXSPEED = 0.5;
242	public static final double POS4_TURN1_TIME = 60;
243	public static final double POS4_TURN_MAXSPEED = 0.5;
244	public static final double POS4_DIST2_TIME = 0;
245	// constants for position 5
246
247	public static final double POS5_DIST1_TIME = 109;
248	public static final double POS5_DRIVE_MAXSPEED = 0.5;
249	public static final double POS5_TURN1_TIME = 60;
250	public static final double POS5_TURN_MAXSPEED = 0.5;
251	public static final double POS5_DIST2_TIME = 0;
252	}
253
5bc7e25f ME	254	public enum Direction {
	255	UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
	256	}
	257
200caf63 KZ	258	public enum Defense {
	259	PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
	260	}
38a404b3	261	}