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Add compressor control code and fix solenoid ports
[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;
52ef246c
KZ		 31 public final static int SPIN1_PORT = 4;
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
074407dc 36 public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1;
2c9bcd75
CZ		 37 public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
38
52ef246c 39 public final static int TOGGLE_SCALING_PORT = 0;
ee82dd56 40 public final static int TOGGLE_COMPRESSOR_PORT = 12;
52ef246c 41
200caf63 42 }
38a404b3 43
200caf63
KZ		 44 public static class DriveTrain {
45 // Drivetrain Motor Related Ports
33141cdd 46 public static final int FRONT_LEFT = 1;
faabd6f8 47 public static final int FRONT_RIGHT = 6;
33141cdd 48 public static final int REAR_LEFT = 2;
faabd6f8 49 public static final int REAR_RIGHT = 5;
27615e61 50
200caf63 51 // Encoder related ports
33141cdd
KZ		 52 public final static int ENCODER_LEFT_A = 0;
53 public final static int ENCODER_LEFT_B = 1;
54 public final static int ENCODER_RIGHT_A = 9;
55 public final static int ENCODER_RIGHT_B = 8;
45bdf5b9 56
0b469cd3
HD		 57 public final static int FORWARD_CHANNEL = 0;
58 public final static int REVERSE_CHANNEL = 1;
59
60 public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 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;
ee82dd56
HD		 67
68 public static final int MODULE_A_ID = 9, MODULE_B_ID = 10;
69 public static final int LEFT_FORWARD = 5, LEFT_REVERSE = 1,
70 RIGHT_FORWARD = 4, RIGHT_REVERSE = 0;
71 public static final int COMPRESSOR_ID = 9;
72
33141cdd 73 public static double time = 0;
2a099bc6
KZ		 74
75 // Gearing constants
76 public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
77 public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
78
54c588d9
CZ		 79 public static boolean inverted = false;
80
9d518a5c 81 public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
200caf63 82 }
ecf2c4a8 83
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KZ		 84 public static class Scaler {
85 // Piston channels
faabd6f8
KZ		 86 public final static int FORWARD_CHANNEL = 6;
87 public final static int REVERSE_CHANNEL = 0;
ecf2c4a8 88
200caf63
KZ		 89 // Winch port
90 public final static int WINCH_MOTOR = 0;
8b905afe 91
694c9fc9 92 // Winch speeds
cef820ab 93 public final static double WINCH_STOP_SPEED = 0.0;
eab4ce91 94 public final static double SCALE_SPEED = 0;
39a39f43 95 public final static double SECONDS_TO_CLAMP = 2.0;
52ef246c 96
edf10851 97 // Winch timeout
eab4ce91 98 public final static int SECONDS_TO_SCALE = 0;
edf10851 99
52ef246c
KZ		 100 public static boolean SCALING = false;
101
200caf63 102 }
38a404b3 103
200caf63
KZ		 104 public static class Shooter {
105 public static final int PORT = 0;
faabd6f8 106 public static final int PUNCH_FORWARD = 5;
071ab315 107 public static final int PUNCH_REVERSE = 1;
200caf63 108 public static final int ANGLE_ADJUSTER_PORT = 0;
2c52cb6e 109
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KZ		 110 public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
111 public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
da0c4bd8 112
200caf63
KZ		 113 // Encoder port
114 public static final int ENCODER_PORT_A = 0;
115 public static final int ENCODER_PORT_B = 0;
faabd6f8
KZ		 116 public static final int RIGHT_HOOD_FORWARD = 2;
117 public static final int RIGHT_HOOD_REVERSE = 4;
118 public static final int LEFT_HOOD_FORWARD = 4;
119 public static final int LEFT_HOOD_REVERSE = 2;
071ab315 120
ec821916
CZ		 121 public static final double DEFAULT_SHOOTER_SPEED = 0.5;
122
5930d874
CZ		 123 public static final Value open = Value.kReverse;
124 public static final Value closed = Value.kForward;
2c52cb6e 125
0262918c
E		 126 public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
127
200caf63
KZ		 128 public static enum State {
129 RUNNING, STOPPED;
130 }
131 }
40348cab 132
200caf63
KZ		 133 public static class IntakeArm {
134 public static final int ROLLER_PORT = 0;
135 public static final int ARM_PORT = 1;
136 public static final int POT_CHANNEL = 0;
137 public static final double INTAKE_SPEED = 0.5;
138 public static final double OUTPUT_SPEED = -0.5;
139 public final static double FULL_RANGE = 270.0; // in degrees
140 public final static double OFFSET = -135.0; // in degrees
141 public static final double ZERO_ANGLE = 0;
4f0ad0ba 142 public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
200caf63 143 }
29f5cd04 144
200caf63
KZ		 145 public static class DefenseArm {
146 // Potentiometer related ports
147 public static final int ARM_CHANNEL = 0;
148 public static final int ARM_PORT = 0;
149 public static final int HAND_PORT = 1;
150 public static final int HAND_CHANNEL = 1;
151 public final static double FULL_RANGE = 270.0; // in degrees
152 public final static double OFFSET = -135.0; // in degrees
72fc3c9b 153
200caf63
KZ		 154 public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
155 // level
156 public final static double ARM_LENGTH = 0; // TODO: find actual length
157 public final static double HAND_LENGTH = 0; // TODO: find actual length
158 public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
159 // height
160 }
1826a8dc 161
9728080f
KZ		 162 public static class Auton {
163 /*
164 * Distance dead reckoning constants
165 */
166 public static final double POS1_DIST1 = 109;
167 public static final double POS1_TURN1 = 60;
168 public static final double POS1_DIST2 = 0;
169
170 // constants for position 2
171 public static final double POS2_DIST1 = 140;
172 public static final double POS2_TURN1 = 60;
173 public static final double POS2_DIST2 = 0;
174
175 // constants for position 3
176 public static final double POS3_DIST1 = 0;
177 public static final double POS3_TURN1 = 90;
178 public static final double POS3_DIST2 = 35.5;
179 public static final double POS3_TURN2 = -90;
180 public static final double POS3_DIST3 = 0;
181
182 // constants for position 4
183 public static final double POS4_DIST1 = 0;
184 public static final double POS4_TURN1 = -90;
185 public static final double POS4_DIST2 = 18.5;
186 public static final double POS4_TURN2 = 90;
187 public static final double POS4_DIST3 = 0;
188
189 // constants for position 5
190 public static final double POS5_DIST1 = 0;
191 public static final double POS5_TURN1 = -90;
192 public static final double POS5_DIST2 = 72.5;
193 public static final double POS5_TURN2 = 90;
194 public static final double POS5_DIST3 = 0;
195 public static final double DRIVE_MAX_TIMEOUT = 3.0;
196 public static final double TURN_MAX_TIMEOUT = 5.0;
197
198 /*
199 * Time dead Reckoning constants
200 */
201 public static final double POS1_DIST1_TIME = 109;
202 public static final double POS1_DRIVE_MAXSPEED = 0.5;
203 public static final double POS1_TURN1_TIME = 60;
204 public static final double POS1_TURN_MAXSPEED = 0.5;
205 public static final double POS1_DIST2_TIME = 0;
206
207 // constants for position 2
208
209 public static final double POS2_DIST1_TIME = 109;
210 public static final double POS2_DRIVE_MAXSPEED = 0.5;
211 public static final double POS2_TURN1_TIME = 60;
212 public static final double POS2_TURN_MAXSPEED = 0.5;
213 public static final double POS2_DIST2_TIME = 0;
214
215 // constants for position 3
216
217 public static final double POS3_DIST1_TIME = 109;
218 public static final double POS3_DRIVE_MAXSPEED = 0.5;
219 public static final double POS3_TURN1_TIME = 60;
220 public static final double POS3_TURN_MAXSPEED = 0.5;
221 public static final double POS3_DIST2_TIME = 0;
222 // constants for position 4
223
224 public static final double POS4_DIST1_TIME = 109;
225 public static final double POS4_DRIVE_MAXSPEED = 0.5;
226 public static final double POS4_TURN1_TIME = 60;
227 public static final double POS4_TURN_MAXSPEED = 0.5;
228 public static final double POS4_DIST2_TIME = 0;
229 // constants for position 5
230
231 public static final double POS5_DIST1_TIME = 109;
232 public static final double POS5_DRIVE_MAXSPEED = 0.5;
233 public static final double POS5_TURN1_TIME = 60;
234 public static final double POS5_TURN_MAXSPEED = 0.5;
235 public static final double POS5_DIST2_TIME = 0;
600a1a1c
KZ		 236
237 // Passing Defenses Constants
238
239 public static final double DEFAULT_SPEED = 0.5;
c688e9da 240 public static final boolean IS_USING_TIME = true;
600a1a1c
KZ		 241
242 // dead reckoning time and speed constants for driving through defenses
01b9b0ec
ME		 243 // TODO: find the times it takes to pass each defense
244 public static final double PASS_ROCK_WALL_TIME = 0;
245 public static final double PASS_ROCK_WALL_SPEED = 0;
246 public static final double PASS_ROCK_WALL_DIST = 0;
247 public static final double PASS_LOW_BAR_TIME = 0;
248 public static final double PASS_LOW_BAR_SPEED = 0;
249 public static final double PASS_LOW_BAR_DIST = 0;
250 public static final double PASS_MOAT_TIME = 0;
251 public static final double PASS_MOAT_SPEED = 0;
252 public static final double PASS_MOAT_DIST = 0;
253 public static final double PASS_RAMPART_TIME = 0;
254 public static final double PASS_RAMPART_SPEED = 0;
255 public static final double PASS_RAMPART_DIST = 0;
256 public static final double PASS_ROUGH_TERRAIN_TIME = 0;
257 public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
258 public static final double PASS_ROUGH_TERRAIN_DIST = 0;
9728080f
KZ		 259 }
260
5bc7e25f
ME		 261 public enum Direction {
262 UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
263 }
264
200caf63
KZ		 265 public enum Defense {
266 PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
267 }
38a404b3 268}