Add PID subsystem

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

package org.usfirst.frc.team3501.robot;

import edu.wpi.first.wpilibj.DoubleSolenoid;

/**
 * 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;
    // Ports on the Joystick
    public final static int TRIGGER_PORT = 1;
    public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
    public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
    public final static int SHOOT_PORT = 4;
    public final static int LOG_PORT = 5;
  }

  public static class DriveTrain {
    // Drivetrain Motor Related Ports
    public static final int FRONT_LEFT = 0;
    public static final int FRONT_RIGHT = 0;
    public static final int REAR_LEFT = 0;
    public static final int REAR_RIGHT = 0;

    // Encoder related ports
    public final static int ENCODER_LEFT_A = 3;
    public final static int ENCODER_LEFT_B = 4;
    public final static int ENCODER_RIGHT_A = 2;
    public final static int ENCODER_RIGHT_B = 1;

    private final static double WHEEL_DIAMETER = 6.0; // in inches
    private final static double PULSES_PER_ROTATION = 256; // in pulses
    private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
    private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
    public final static double INCHES_PER_PULSE = (((Math.PI)
        * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
        / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
  }

  public static class Scaler {
    // Piston channels
    public final static int FORWARD_CHANNEL = 0;
    public final static int REVERSE_CHANNEL = 0;

    // Winch port
    public final static int WINCH_MOTOR = 0;

  }

  public static class Shooter {
    public static final int PORT = 0;
    public static final int PUNCH_FORWARD_PORT = 0;
    public static final int PUNCH_REVERSE_PORT = 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 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 static final double UP_SPEED = 0.3;
    public static final double DOWN_SPEED = -0.3;
    public static final double STOP_SPEED = 0.0;
    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 enum Defense {
    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
  }
}