| 1 | package org.usfirst.frc.team3501.robot; |
| 2 | |
| 3 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
| 4 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
| 5 | |
| 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 { |
| 13 | public final static int PCM_MODULE_A = 9; |
| 14 | public final static int PCM_MODULE_B = 10; |
| 15 | |
| 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; |
| 20 | |
| 21 | public final static int PASS_PORTCULLIS_PORT = 0; |
| 22 | public final static int PASS_CHEVAL_DE_FRISE_PORT = 0; |
| 23 | public final static int PASS_DRAWBRIDGE_PORT = 0; |
| 24 | public final static int PASS_SALLYPORT_PORT = 0; |
| 25 | |
| 26 | public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0; |
| 27 | public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0; |
| 28 | public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0; |
| 29 | public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0; |
| 30 | |
| 31 | public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0; |
| 32 | public final static int SPIN1_PORT = 4; |
| 33 | public final static int SPIN2_PORT = 5; |
| 34 | public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3; |
| 35 | public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2; |
| 36 | |
| 37 | public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0; |
| 38 | public final static int RIGHT_JOYSTICK_THUMB_PORT = 2; |
| 39 | |
| 40 | public final static int TOGGLE_SCALING_PORT = 0; |
| 41 | |
| 42 | } |
| 43 | |
| 44 | public static class DriveTrain { |
| 45 | // Drivetrain Motor Related Ports |
| 46 | public static final int FRONT_LEFT = 1; |
| 47 | public static final int FRONT_RIGHT = 6; |
| 48 | public static final int REAR_LEFT = 2; |
| 49 | public static final int REAR_RIGHT = 5; |
| 50 | |
| 51 | // Encoder related ports |
| 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; |
| 56 | |
| 57 | public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256; |
| 58 | |
| 59 | public static double kp = 0.013, ki = 0.000015, kd = -0.002; |
| 60 | public static double gp = 0.018, gi = 0.000015, gd = 0; |
| 61 | public static double encoderTolerance = 8.0, gyroTolerance = 5.0; |
| 62 | |
| 63 | public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3; |
| 64 | public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5, |
| 65 | RIGHT_FORWARD = 0, RIGHT_REVERSE = 1; |
| 66 | public static double time = 0; |
| 67 | |
| 68 | // Gearing constants |
| 69 | public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward; |
| 70 | public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse; |
| 71 | |
| 72 | public static boolean inverted = false; |
| 73 | |
| 74 | public static final double PASS_DEFENSE_TIMEOUT = 10; // find this |
| 75 | } |
| 76 | |
| 77 | public static class Scaler { |
| 78 | // Piston channels |
| 79 | public final static int FORWARD_CHANNEL = 6; |
| 80 | public final static int REVERSE_CHANNEL = 0; |
| 81 | |
| 82 | // Winch port |
| 83 | public final static int WINCH_MOTOR = 0; |
| 84 | |
| 85 | // Winch speeds |
| 86 | public final static double WINCH_STOP_SPEED = 0.0; |
| 87 | public final static double SCALE_SPEED = 0; |
| 88 | public final static double SECONDS_TO_CLAMP = 2.0; |
| 89 | |
| 90 | // Winch timeout |
| 91 | public final static int SECONDS_TO_SCALE = 0; |
| 92 | |
| 93 | public static boolean SCALING = false; |
| 94 | |
| 95 | } |
| 96 | |
| 97 | public static class Shooter { |
| 98 | public static final int CATAPULT1_MODULE = PCM_MODULE_A; |
| 99 | public static final int CATAPULT1_FORWARD = 0; |
| 100 | public static final int CATAPULT1_REVERSE = 1; |
| 101 | public static final int CATAPULT2_MODULE = PCM_MODULE_B; |
| 102 | public static final int CATAPULT2_FORWARD = 2; |
| 103 | public static final int CATAPULT2_REVERSE = 3;// TODO Determine actual |
| 104 | // shooter ports |
| 105 | |
| 106 | public static final Value shoot = Value.kForward; |
| 107 | public static final Value reset = Value.kReverse; |
| 108 | public static final double WAIT_TIME = 2.0; // In seconds |
| 109 | } |
| 110 | |
| 111 | public static class IntakeArm { |
| 112 | public static final int ROLLER_PORT = 0; |
| 113 | public static final int ARM_PORT = 1; |
| 114 | public static final int POT_CHANNEL = 0; |
| 115 | public static final double INTAKE_SPEED = 0.5; |
| 116 | public static final double OUTPUT_SPEED = -0.5; |
| 117 | public final static double FULL_RANGE = 270.0; // in degrees |
| 118 | public final static double OFFSET = -135.0; // in degrees |
| 119 | public static final double ZERO_ANGLE = 0; |
| 120 | public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3; |
| 121 | } |
| 122 | |
| 123 | public static class DefenseArm { |
| 124 | // Potentiometer related ports |
| 125 | public static final int ARM_CHANNEL = 0; |
| 126 | public static final int ARM_PORT = 0; |
| 127 | public static final int HAND_PORT = 1; |
| 128 | public static final int HAND_CHANNEL = 1; |
| 129 | public final static double FULL_RANGE = 270.0; // in degrees |
| 130 | public final static double OFFSET = -135.0; // in degrees |
| 131 | |
| 132 | public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3 |
| 133 | // level |
| 134 | public final static double ARM_LENGTH = 0; // TODO: find actual length |
| 135 | public final static double HAND_LENGTH = 0; // TODO: find actual length |
| 136 | public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual |
| 137 | // height |
| 138 | } |
| 139 | |
| 140 | public static class Auton { |
| 141 | /* |
| 142 | * Distance dead reckoning constants |
| 143 | */ |
| 144 | public static final double POS1_DIST1 = 109; |
| 145 | public static final double POS1_TURN1 = 60; |
| 146 | public static final double POS1_DIST2 = 0; |
| 147 | |
| 148 | // constants for position 2 |
| 149 | public static final double POS2_DIST1 = 140; |
| 150 | public static final double POS2_TURN1 = 60; |
| 151 | public static final double POS2_DIST2 = 0; |
| 152 | |
| 153 | // constants for position 3 |
| 154 | public static final double POS3_DIST1 = 0; |
| 155 | public static final double POS3_TURN1 = 90; |
| 156 | public static final double POS3_DIST2 = 35.5; |
| 157 | public static final double POS3_TURN2 = -90; |
| 158 | public static final double POS3_DIST3 = 0; |
| 159 | |
| 160 | // constants for position 4 |
| 161 | public static final double POS4_DIST1 = 0; |
| 162 | public static final double POS4_TURN1 = -90; |
| 163 | public static final double POS4_DIST2 = 18.5; |
| 164 | public static final double POS4_TURN2 = 90; |
| 165 | public static final double POS4_DIST3 = 0; |
| 166 | |
| 167 | // constants for position 5 |
| 168 | public static final double POS5_DIST1 = 0; |
| 169 | public static final double POS5_TURN1 = -90; |
| 170 | public static final double POS5_DIST2 = 72.5; |
| 171 | public static final double POS5_TURN2 = 90; |
| 172 | public static final double POS5_DIST3 = 0; |
| 173 | public static final double DRIVE_MAX_TIMEOUT = 3.0; |
| 174 | public static final double TURN_MAX_TIMEOUT = 5.0; |
| 175 | |
| 176 | /* |
| 177 | * Time dead Reckoning constants |
| 178 | */ |
| 179 | public static final double POS1_DIST1_TIME = 109; |
| 180 | public static final double POS1_DRIVE_MAXSPEED = 0.5; |
| 181 | public static final double POS1_TURN1_TIME = 60; |
| 182 | public static final double POS1_TURN_MAXSPEED = 0.5; |
| 183 | public static final double POS1_DIST2_TIME = 0; |
| 184 | |
| 185 | // constants for position 2 |
| 186 | |
| 187 | public static final double POS2_DIST1_TIME = 109; |
| 188 | public static final double POS2_DRIVE_MAXSPEED = 0.5; |
| 189 | public static final double POS2_TURN1_TIME = 60; |
| 190 | public static final double POS2_TURN_MAXSPEED = 0.5; |
| 191 | public static final double POS2_DIST2_TIME = 0; |
| 192 | |
| 193 | // constants for position 3 |
| 194 | |
| 195 | public static final double POS3_DIST1_TIME = 109; |
| 196 | public static final double POS3_DRIVE_MAXSPEED = 0.5; |
| 197 | public static final double POS3_TURN1_TIME = 60; |
| 198 | public static final double POS3_TURN_MAXSPEED = 0.5; |
| 199 | public static final double POS3_DIST2_TIME = 0; |
| 200 | // constants for position 4 |
| 201 | |
| 202 | public static final double POS4_DIST1_TIME = 109; |
| 203 | public static final double POS4_DRIVE_MAXSPEED = 0.5; |
| 204 | public static final double POS4_TURN1_TIME = 60; |
| 205 | public static final double POS4_TURN_MAXSPEED = 0.5; |
| 206 | public static final double POS4_DIST2_TIME = 0; |
| 207 | // constants for position 5 |
| 208 | |
| 209 | public static final double POS5_DIST1_TIME = 109; |
| 210 | public static final double POS5_DRIVE_MAXSPEED = 0.5; |
| 211 | public static final double POS5_TURN1_TIME = 60; |
| 212 | public static final double POS5_TURN_MAXSPEED = 0.5; |
| 213 | public static final double POS5_DIST2_TIME = 0; |
| 214 | |
| 215 | // Passing Defenses Constants |
| 216 | |
| 217 | public static final double DEFAULT_SPEED = 0.5; |
| 218 | public static final boolean IS_USING_TIME = true; |
| 219 | |
| 220 | // dead reckoning time and speed constants for driving through defenses |
| 221 | // TODO: find the times it takes to pass each defense |
| 222 | public static final double PASS_ROCK_WALL_TIME = 0; |
| 223 | public static final double PASS_ROCK_WALL_SPEED = 0; |
| 224 | public static final double PASS_ROCK_WALL_DIST = 0; |
| 225 | public static final double PASS_LOW_BAR_TIME = 0; |
| 226 | public static final double PASS_LOW_BAR_SPEED = 0; |
| 227 | public static final double PASS_LOW_BAR_DIST = 0; |
| 228 | public static final double PASS_MOAT_TIME = 0; |
| 229 | public static final double PASS_MOAT_SPEED = 0; |
| 230 | public static final double PASS_MOAT_DIST = 0; |
| 231 | public static final double PASS_RAMPART_TIME = 0; |
| 232 | public static final double PASS_RAMPART_SPEED = 0; |
| 233 | public static final double PASS_RAMPART_DIST = 0; |
| 234 | public static final double PASS_ROUGH_TERRAIN_TIME = 0; |
| 235 | public static final double PASS_ROUGH_TERRAIN_SPEED = 0; |
| 236 | public static final double PASS_ROUGH_TERRAIN_DIST = 0; |
| 237 | } |
| 238 | |
| 239 | public enum Direction { |
| 240 | UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD; |
| 241 | } |
| 242 | |
| 243 | public enum Defense { |
| 244 | PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; |
| 245 | } |
| 246 | } |