Commit | Line | Data |
---|---|---|
38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
9b10474d | 3 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
2a099bc6 | 4 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
9b10474d | 5 | |
38a404b3 KZ |
6 | /** |
7 | * The Constants stores constant values for all subsystems. This includes the | |
8 | * port values for motors and sensors, as well as important operational | |
9 | * constants for subsystems such as max and min values. | |
10 | */ | |
11 | ||
12 | public class Constants { | |
e4fbab02 HD |
13 | public final static int PCM_MODULE_A = 9; |
14 | public final static int PCM_MODULE_B = 10; | |
15 | ||
200caf63 KZ |
16 | public static class OI { |
17 | // Computer Ports | |
18 | public final static int LEFT_STICK_PORT = 0; | |
19 | public final static int RIGHT_STICK_PORT = 1; | |
2c9bcd75 | 20 | |
571a0e2a | 21 | public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1; |
2c9bcd75 | 22 | |
571a0e2a HD |
23 | public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1; |
24 | public final static int RIGHT_JOYSTICK_THUMB_PORT = 2; | |
25 | public final static int RIGHT_JOYSTICK_SHOOT_PORT = 3; | |
52ef246c | 26 | |
200caf63 | 27 | } |
38a404b3 | 28 | |
200caf63 KZ |
29 | public static class DriveTrain { |
30 | // Drivetrain Motor Related Ports | |
33141cdd | 31 | public static final int FRONT_LEFT = 1; |
faabd6f8 | 32 | public static final int FRONT_RIGHT = 6; |
33141cdd | 33 | public static final int REAR_LEFT = 2; |
faabd6f8 | 34 | public static final int REAR_RIGHT = 5; |
27615e61 | 35 | |
200caf63 | 36 | // Encoder related ports |
33141cdd KZ |
37 | public final static int ENCODER_LEFT_A = 0; |
38 | public final static int ENCODER_LEFT_B = 1; | |
571a0e2a HD |
39 | public final static int ENCODER_RIGHT_A = 3; |
40 | public final static int ENCODER_RIGHT_B = 4; | |
41 | ||
42 | public static final int LEFT_MODULE = PCM_MODULE_B; | |
43 | public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5; | |
44 | public static final int RIGHT_MODULE = PCM_MODULE_B; | |
45 | public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 1; | |
45bdf5b9 | 46 | |
571a0e2a | 47 | public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256; |
33141cdd | 48 | |
fb75626b | 49 | public static double kp = 0.013, ki = 0.000015, kd = -0.002; |
f8bfcc62 | 50 | public static double encoderTolerance = 8.0; |
2a099bc6 KZ |
51 | |
52 | // Gearing constants | |
53 | public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward; | |
54 | public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse; | |
55 | ||
9d518a5c | 56 | public static final double PASS_DEFENSE_TIMEOUT = 10; // find this |
200caf63 | 57 | } |
ecf2c4a8 | 58 | |
200caf63 KZ |
59 | public static class Scaler { |
60 | // Piston channels | |
faabd6f8 KZ |
61 | public final static int FORWARD_CHANNEL = 6; |
62 | public final static int REVERSE_CHANNEL = 0; | |
ecf2c4a8 | 63 | |
200caf63 KZ |
64 | // Winch port |
65 | public final static int WINCH_MOTOR = 0; | |
8b905afe | 66 | |
694c9fc9 | 67 | // Winch speeds |
cef820ab | 68 | public final static double WINCH_STOP_SPEED = 0.0; |
eab4ce91 | 69 | public final static double SCALE_SPEED = 0; |
39a39f43 | 70 | public final static double SECONDS_TO_CLAMP = 2.0; |
52ef246c | 71 | |
edf10851 | 72 | // Winch timeout |
eab4ce91 | 73 | public final static int SECONDS_TO_SCALE = 0; |
edf10851 | 74 | |
52ef246c KZ |
75 | public static boolean SCALING = false; |
76 | ||
200caf63 | 77 | } |
38a404b3 | 78 | |
200caf63 | 79 | public static class Shooter { |
571a0e2a | 80 | public static final int CATAPULT1_MODULE = PCM_MODULE_B; |
e4fbab02 | 81 | public static final int CATAPULT1_FORWARD = 0; |
571a0e2a | 82 | public static final int CATAPULT1_REVERSE = 6; |
e4fbab02 | 83 | public static final int CATAPULT2_MODULE = PCM_MODULE_B; |
571a0e2a HD |
84 | public static final int CATAPULT2_FORWARD = 1; |
85 | public static final int CATAPULT2_REVERSE = 7;// TODO Determine actual | |
e4fbab02 HD |
86 | // shooter ports |
87 | ||
88 | public static final Value shoot = Value.kForward; | |
89 | public static final Value reset = Value.kReverse; | |
90 | public static final double WAIT_TIME = 2.0; // In seconds | |
200caf63 | 91 | } |
40348cab | 92 | |
200caf63 | 93 | public static class IntakeArm { |
571a0e2a | 94 | public static final int ROLLER_PORT = 3; |
5cff8910 ME |
95 | |
96 | // for pistons | |
97 | public static final int LEFT_FORWARD = 0; | |
98 | public static final int LEFT_REVERSE = 1; | |
99 | ||
100 | public static final int RIGHT_FORWARD = 2; | |
101 | public static final int RIGHT_REVERSE = 3; | |
102 | ||
2781cca0 ME |
103 | public static final Value EXTEND = DoubleSolenoid.Value.kForward; |
104 | public static final Value RETRACT = DoubleSolenoid.Value.kReverse; | |
105 | ||
5cff8910 | 106 | // for roller |
200caf63 KZ |
107 | public static final double INTAKE_SPEED = 0.5; |
108 | public static final double OUTPUT_SPEED = -0.5; | |
200caf63 | 109 | } |
38a404b3 | 110 | } |