1 package org
.usfirst
.frc
.team3501
.robot
;
3 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
4 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
.Value
;
5 import edu
.wpi
.first
.wpilibj
.I2C
;
6 import edu
.wpi
.first
.wpilibj
.I2C
.Port
;
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.
14 public class Constants
{
15 public static class OI
{
17 public final static int LEFT_STICK_PORT
= 0;
18 public final static int RIGHT_STICK_PORT
= 1;
20 public final static int PASS_PORTCULLIS_PORT
= 0;
21 public final static int PASS_CHEVAL_DE_FRISE_PORT
= 0;
22 public final static int PASS_DRAWBRIDGE_PORT
= 0;
23 public final static int PASS_SALLYPORT_PORT
= 0;
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;
30 public final static int LEFT_JOYSTICK_TRIGGER_PORT
= 1;
31 public final static int SPIN1_PORT
= 4;
32 public final static int SPIN2_PORT
= 5;
33 public final static int LEFT_JOYSTICK_TOP_CENTER_PORT
= 3;
34 public final static int LEFT_JOYSTICK_TOP_LOW_PORT
= 2;
36 public final static int RIGHT_JOYSTICK_TRIGGER_PORT
= 1;
37 public final static int RIGHT_JOYSTICK_THUMB_PORT
= 2;
39 public final static int TOGGLE_SCALING_PORT
= 0;
40 public final static int TOGGLE_COMPRESSOR_PORT
= 12;
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;
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;
57 public final static int FORWARD_CHANNEL
= 0;
58 public final static int REVERSE_CHANNEL
= 1;
60 public static final double INCHES_PER_PULSE
= ((3.66 / 5.14) * 6 * Math
.PI
) / 256;
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;
66 public static final int MANUAL_MODE
= 1, ENCODER_MODE
= 2, GYRO_MODE
= 3;
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;
73 public static double time
= 0;
76 public static final Value HIGH_GEAR
= DoubleSolenoid
.Value
.kForward
;
77 public static final Value LOW_GEAR
= DoubleSolenoid
.Value
.kReverse
;
79 public static boolean inverted
= false;
81 public static final double PASS_DEFENSE_TIMEOUT
= 10; // find this
84 public static class Scaler
{
86 public final static int FORWARD_CHANNEL
= 6;
87 public final static int REVERSE_CHANNEL
= 0;
90 public final static int WINCH_MOTOR
= 0;
93 public final static double WINCH_STOP_SPEED
= 0.0;
94 public final static double SCALE_SPEED
= 0;
95 public final static double SECONDS_TO_CLAMP
= 2.0;
98 public final static int SECONDS_TO_SCALE
= 0;
100 public static boolean SCALING
= false;
104 public static class Shooter
{
105 public static final int PORT
= 0;
106 public static final int PUNCH_FORWARD
= 5;
107 public static final int PUNCH_REVERSE
= 1;
108 public static final int ANGLE_ADJUSTER_PORT
= 0;
110 public static final DoubleSolenoid
.Value punch
= DoubleSolenoid
.Value
.kForward
;
111 public static final DoubleSolenoid
.Value retract
= DoubleSolenoid
.Value
.kReverse
;
114 public static final int ENCODER_PORT_A
= 0;
115 public static final int ENCODER_PORT_B
= 0;
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;
121 public static final double DEFAULT_SHOOTER_SPEED
= 0.5;
123 public static final Value open
= Value
.kReverse
;
124 public static final Value closed
= Value
.kForward
;
126 public static final Port LIDAR_I2C_PORT
= I2C
.Port
.kMXP
;
128 public static enum State
{
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;
142 public static final double DEFAULT_INTAKE_ARM_SPEED
= 0.3;
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
154 public final static double[] armPotValue
= { 0.0, 45.0, 90.0 }; // 3
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
162 public static class Auton
{
164 * Distance dead reckoning constants
166 public static final double POS1_DIST1
= 109;
167 public static final double POS1_TURN1
= 60;
168 public static final double POS1_DIST2
= 0;
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;
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;
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;
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;
199 * Time dead Reckoning constants
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;
207 // constants for position 2
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;
215 // constants for position 3
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
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
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;
237 // Passing Defenses Constants
239 public static final double DEFAULT_SPEED
= 0.5;
240 public static final boolean IS_USING_TIME
= true;
242 // dead reckoning time and speed constants for driving through defenses
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;
261 public enum Direction
{
262 UP
, DOWN
, RIGHT
, LEFT
, FORWARD
, BACKWARD
;
265 public enum Defense
{
266 PORTCULLIS
, SALLY_PORT
, ROUGH_TERRAIN
, LOW_BAR
, CHEVAL_DE_FRISE
, DRAWBRIDGE
, MOAT
, ROCK_WALL
, RAMPART
;