Commit | Line | Data |
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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 KZ |
49 | public static double kp = 0.013, ki = 0.000015, kd = -0.002; |
50 | public static double gp = 0.018, gi = 0.000015, gd = 0; | |
51 | public static double encoderTolerance = 8.0, gyroTolerance = 5.0; | |
52 | ||
33141cdd KZ |
53 | public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3; |
54 | public static double time = 0; | |
2a099bc6 KZ |
55 | |
56 | // Gearing constants | |
57 | public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward; | |
58 | public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse; | |
59 | ||
54c588d9 CZ |
60 | public static boolean inverted = false; |
61 | ||
9d518a5c | 62 | public static final double PASS_DEFENSE_TIMEOUT = 10; // find this |
200caf63 | 63 | } |
ecf2c4a8 | 64 | |
200caf63 KZ |
65 | public static class Scaler { |
66 | // Piston channels | |
faabd6f8 KZ |
67 | public final static int FORWARD_CHANNEL = 6; |
68 | public final static int REVERSE_CHANNEL = 0; | |
ecf2c4a8 | 69 | |
200caf63 KZ |
70 | // Winch port |
71 | public final static int WINCH_MOTOR = 0; | |
8b905afe | 72 | |
694c9fc9 | 73 | // Winch speeds |
cef820ab | 74 | public final static double WINCH_STOP_SPEED = 0.0; |
eab4ce91 | 75 | public final static double SCALE_SPEED = 0; |
39a39f43 | 76 | public final static double SECONDS_TO_CLAMP = 2.0; |
52ef246c | 77 | |
edf10851 | 78 | // Winch timeout |
eab4ce91 | 79 | public final static int SECONDS_TO_SCALE = 0; |
edf10851 | 80 | |
52ef246c KZ |
81 | public static boolean SCALING = false; |
82 | ||
200caf63 | 83 | } |
38a404b3 | 84 | |
200caf63 | 85 | public static class Shooter { |
571a0e2a | 86 | public static final int CATAPULT1_MODULE = PCM_MODULE_B; |
e4fbab02 | 87 | public static final int CATAPULT1_FORWARD = 0; |
571a0e2a | 88 | public static final int CATAPULT1_REVERSE = 6; |
e4fbab02 | 89 | public static final int CATAPULT2_MODULE = PCM_MODULE_B; |
571a0e2a HD |
90 | public static final int CATAPULT2_FORWARD = 1; |
91 | public static final int CATAPULT2_REVERSE = 7;// TODO Determine actual | |
e4fbab02 HD |
92 | // shooter ports |
93 | ||
94 | public static final Value shoot = Value.kForward; | |
95 | public static final Value reset = Value.kReverse; | |
96 | public static final double WAIT_TIME = 2.0; // In seconds | |
200caf63 | 97 | } |
40348cab | 98 | |
200caf63 | 99 | public static class IntakeArm { |
571a0e2a | 100 | public static final int ROLLER_PORT = 3; |
5cff8910 ME |
101 | |
102 | // for pistons | |
103 | public static final int LEFT_FORWARD = 0; | |
104 | public static final int LEFT_REVERSE = 1; | |
105 | ||
106 | public static final int RIGHT_FORWARD = 2; | |
107 | public static final int RIGHT_REVERSE = 3; | |
108 | ||
2781cca0 ME |
109 | public static final Value EXTEND = DoubleSolenoid.Value.kForward; |
110 | public static final Value RETRACT = DoubleSolenoid.Value.kReverse; | |
111 | ||
5cff8910 | 112 | // for roller |
200caf63 KZ |
113 | public static final double INTAKE_SPEED = 0.5; |
114 | public static final double OUTPUT_SPEED = -0.5; | |
200caf63 | 115 | } |
29f5cd04 | 116 | |
200caf63 KZ |
117 | public static class DefenseArm { |
118 | // Potentiometer related ports | |
119 | public static final int ARM_CHANNEL = 0; | |
120 | public static final int ARM_PORT = 0; | |
121 | public static final int HAND_PORT = 1; | |
122 | public static final int HAND_CHANNEL = 1; | |
123 | public final static double FULL_RANGE = 270.0; // in degrees | |
124 | public final static double OFFSET = -135.0; // in degrees | |
72fc3c9b | 125 | |
200caf63 KZ |
126 | public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 |
127 | // level | |
128 | public final static double ARM_LENGTH = 0; // TODO: find actual length | |
129 | public final static double HAND_LENGTH = 0; // TODO: find actual length | |
130 | public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual | |
131 | // height | |
132 | } | |
1826a8dc | 133 | |
9728080f KZ |
134 | public static class Auton { |
135 | /* | |
136 | * Distance dead reckoning constants | |
137 | */ | |
138 | public static final double POS1_DIST1 = 109; | |
139 | public static final double POS1_TURN1 = 60; | |
140 | public static final double POS1_DIST2 = 0; | |
141 | ||
142 | // constants for position 2 | |
143 | public static final double POS2_DIST1 = 140; | |
144 | public static final double POS2_TURN1 = 60; | |
145 | public static final double POS2_DIST2 = 0; | |
146 | ||
147 | // constants for position 3 | |
148 | public static final double POS3_DIST1 = 0; | |
149 | public static final double POS3_TURN1 = 90; | |
150 | public static final double POS3_DIST2 = 35.5; | |
151 | public static final double POS3_TURN2 = -90; | |
152 | public static final double POS3_DIST3 = 0; | |
153 | ||
154 | // constants for position 4 | |
155 | public static final double POS4_DIST1 = 0; | |
156 | public static final double POS4_TURN1 = -90; | |
157 | public static final double POS4_DIST2 = 18.5; | |
158 | public static final double POS4_TURN2 = 90; | |
159 | public static final double POS4_DIST3 = 0; | |
160 | ||
161 | // constants for position 5 | |
162 | public static final double POS5_DIST1 = 0; | |
163 | public static final double POS5_TURN1 = -90; | |
164 | public static final double POS5_DIST2 = 72.5; | |
165 | public static final double POS5_TURN2 = 90; | |
166 | public static final double POS5_DIST3 = 0; | |
167 | public static final double DRIVE_MAX_TIMEOUT = 3.0; | |
168 | public static final double TURN_MAX_TIMEOUT = 5.0; | |
169 | ||
170 | /* | |
171 | * Time dead Reckoning constants | |
172 | */ | |
173 | public static final double POS1_DIST1_TIME = 109; | |
174 | public static final double POS1_DRIVE_MAXSPEED = 0.5; | |
175 | public static final double POS1_TURN1_TIME = 60; | |
176 | public static final double POS1_TURN_MAXSPEED = 0.5; | |
177 | public static final double POS1_DIST2_TIME = 0; | |
178 | ||
179 | // constants for position 2 | |
180 | ||
181 | public static final double POS2_DIST1_TIME = 109; | |
182 | public static final double POS2_DRIVE_MAXSPEED = 0.5; | |
183 | public static final double POS2_TURN1_TIME = 60; | |
184 | public static final double POS2_TURN_MAXSPEED = 0.5; | |
185 | public static final double POS2_DIST2_TIME = 0; | |
186 | ||
187 | // constants for position 3 | |
188 | ||
189 | public static final double POS3_DIST1_TIME = 109; | |
190 | public static final double POS3_DRIVE_MAXSPEED = 0.5; | |
191 | public static final double POS3_TURN1_TIME = 60; | |
192 | public static final double POS3_TURN_MAXSPEED = 0.5; | |
193 | public static final double POS3_DIST2_TIME = 0; | |
194 | // constants for position 4 | |
195 | ||
196 | public static final double POS4_DIST1_TIME = 109; | |
197 | public static final double POS4_DRIVE_MAXSPEED = 0.5; | |
198 | public static final double POS4_TURN1_TIME = 60; | |
199 | public static final double POS4_TURN_MAXSPEED = 0.5; | |
200 | public static final double POS4_DIST2_TIME = 0; | |
201 | // constants for position 5 | |
202 | ||
203 | public static final double POS5_DIST1_TIME = 109; | |
204 | public static final double POS5_DRIVE_MAXSPEED = 0.5; | |
205 | public static final double POS5_TURN1_TIME = 60; | |
206 | public static final double POS5_TURN_MAXSPEED = 0.5; | |
207 | public static final double POS5_DIST2_TIME = 0; | |
600a1a1c KZ |
208 | |
209 | // Passing Defenses Constants | |
210 | ||
211 | public static final double DEFAULT_SPEED = 0.5; | |
c688e9da | 212 | public static final boolean IS_USING_TIME = true; |
600a1a1c KZ |
213 | |
214 | // dead reckoning time and speed constants for driving through defenses | |
01b9b0ec ME |
215 | // TODO: find the times it takes to pass each defense |
216 | public static final double PASS_ROCK_WALL_TIME = 0; | |
217 | public static final double PASS_ROCK_WALL_SPEED = 0; | |
218 | public static final double PASS_ROCK_WALL_DIST = 0; | |
219 | public static final double PASS_LOW_BAR_TIME = 0; | |
220 | public static final double PASS_LOW_BAR_SPEED = 0; | |
221 | public static final double PASS_LOW_BAR_DIST = 0; | |
222 | public static final double PASS_MOAT_TIME = 0; | |
223 | public static final double PASS_MOAT_SPEED = 0; | |
224 | public static final double PASS_MOAT_DIST = 0; | |
225 | public static final double PASS_RAMPART_TIME = 0; | |
226 | public static final double PASS_RAMPART_SPEED = 0; | |
227 | public static final double PASS_RAMPART_DIST = 0; | |
228 | public static final double PASS_ROUGH_TERRAIN_TIME = 0; | |
229 | public static final double PASS_ROUGH_TERRAIN_SPEED = 0; | |
230 | public static final double PASS_ROUGH_TERRAIN_DIST = 0; | |
9728080f KZ |
231 | } |
232 | ||
5bc7e25f ME |
233 | public enum Direction { |
234 | UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD; | |
235 | } | |
236 | ||
200caf63 KZ |
237 | public enum Defense { |
238 | PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; | |
239 | } | |
38a404b3 | 240 | } |