add code that puts ball onto catapult

[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;

/**
 * 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 final static int PCM_MODULE_A = 9;
  public final static int PCM_MODULE_B = 10;

  public static class OI {
    // Computer Ports
    public final static int LEFT_STICK_PORT = 0;
    public final static int RIGHT_STICK_PORT = 1;

    // Left Joystick
    public final static int LEFT_JOYSTICK_GEAR_SHIFT_PORT = 1;
    public final static int LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT = 3;
    public final static int LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT = 5;
    public final static int LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT = 4;
    public final static int LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT = 6;
    public final static int LEFT_JOYSTICK_TOGGLE_FRONT_PORT = 7;

    // Right Joystick
    public final static int RIGHT_JOYSTICK_INTAKE_PORT = 1;
    public final static int RIGHT_JOYSTICK_OUTTAKE_1_PORT = 3;
    public final static int RIGHT_JOYSTICK_OUTTAKE_2_PORT = 4;
    public final static int RIGHT_JOYSTICK_SHOOTER_UP_PORT = 2;
    public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT = 5;
    public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT = 6;

  }

  public static class DriveTrain {
    public static final int TANK = 0;
    public static final int ARCADE = 1;
    public static final int DRIVE_TYPE = TANK;

    // Limits changes in speed during joystick driving
    public static final double kADJUST = 8;

    // Drivetrain Motor related ports
    public static final int DRIVE_FRONT_LEFT = 1;
    public static final int DRIVE_REAR_LEFT = 2;
    public static final int DRIVE_FRONT_RIGHT = 6;
    public static final int DRIVE_REAR_RIGHT = 5;

    // Drivetrain shifter related ports
    public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
    public static final int LEFT_SHIFT_FORWARD = 6;
    public static final int LEFT_SHIFT_REVERSE = 3;
    public static final int RIGHT_SHIFT_MODULE = PCM_MODULE_B;
    public static final int RIGHT_SHIFT_FORWARD = 2;
    public static final int RIGHT_SHIFT_REVERSE = 7;

    // 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 = 3;
    public final static int ENCODER_RIGHT_B = 4;

    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 encoderTolerance = 8.0;

    // Gearing constants
    public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
    public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
  }

  public static class Shooter {
    public static final int CATAPULT1_MODULE = PCM_MODULE_B;
    public static final int CATAPULT1_FORWARD = 4;
    public static final int CATAPULT1_REVERSE = 1;
    public static final int CATAPULT2_MODULE = PCM_MODULE_A;
    public static final int CATAPULT2_FORWARD = 0;
    public static final int CATAPULT2_REVERSE = 1;

    public static final Value SHOOT = Value.kForward;
    public static final Value RESET = Value.kReverse;
    public static final double WAIT_TIME = 2.0; // In seconds

    // TODO: test for this time
    public static final double TIME_FOR_BALL_TO_CATAPULT_ROLLING = 1.0;

  }

  public static class IntakeArm {
    public static final int INTAKE_ROLLER_PORT = 8;

    // for pistons
    public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
    public static final int LEFT_INTAKE_FORWARD = 5;
    public static final int LEFT_INTAKE_REVERSE = 2;
    public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_B;
    public static final int RIGHT_INTAKE_FORWARD = 5;
    public static final int RIGHT_INTAKE_REVERSE = 0;

    public static final Value EXTEND = DoubleSolenoid.Value.kForward;
    public static final Value RETRACT = DoubleSolenoid.Value.kReverse;

    public static final int IN = 1;
    public static final int STOP = 0;
    public static final int OUT = -1;

    // for roller
    public static final double INTAKE_SPEED = 0.7;
    public static final double OUTPUT_SPEED = -0.7;
  }

  public static class Auton {
    // Defense crossing speeds from -1 to 1
    public static final double DEFAULT_SPEED = 0.3;
    public static final double MOAT_SPEED = 0.6;
    public static final double ROCK_WALL_SPEED = 0.8;
    public static final double ROUGH_TERRAIN_SPEED = 0.7;
    public static final double RAMPART_SPEED = 0.4;
    public static final double LOW_BAR_SPEED = 0.5;

    // Defense crossing times in seconds
    public static final double DEFAULT_TIME = 10.0;
    public static final double MOAT_TIME = 7.0;
    public static final double ROCK_WALL_TIME = 8.0;
    public static final double ROUGH_TERRAIN_TIME = 6.0;
    public static final double RAMPART_TIME = 10.0;
    public static final double LOW_BAR_TIME = 6.0;

    // Time to wait before shooting in seconds
    public static final double WAIT_TIME = 1.0;
  }

  public enum Defense {
    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHIVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
  }
}