challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/Constants.java

   1 package org.usfirst.frc.team3501.robot;
   2
   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;
   7
   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
  14 public class Constants {
  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;
  19
  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;
  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
  30     public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1;
  31     public final static int LEFT_JOYSTICK_TOP_LEFT_BUTTON = 4;
  32     public final static int LEFT_JOYSTICK_TOP_RIGHT_BUTTON = 5;
  33     public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
  34     public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;
  35
  36     public final static int LEFT_JOYSTICK_BOTTOM_BACK_LEFT_BUTTON = 8;
  37     public final static int LEFT_JOYSTICK_BOTTOM_BACK_RIGHT_BUTTON = 9;
  38     public final static int LEFT_JOYSTICK_BOTTOM_LEFT_FORWARD_BUTTON = 6;
  39     public final static int LEFT_JOYSTICK_BOTTOM_LEFT_BACK_BUTTON = 7;
  40     public final static int LEFT_JOYSTICK_BOTTOM_RIGHT_FORWARD_BUTTON = 11;
  41     public final static int LEFT_JOYSTICK_BOTTOM_RIGHT_BACK_BUTTON = 10;
  42
  43     public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1;
  44     public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
  45
  46     public final static int TOGGLE_SCALING_PORT = 0;
  47     public final static int TOGGLE_COMPRESSOR_PORT = 12;
  48
  49   }
  50
  51   public static class DriveTrain {
  52     // Drivetrain Motor Related Ports
  53     public static final int FRONT_LEFT = 1;
  54     public static final int FRONT_RIGHT = 6;
  55     public static final int REAR_LEFT = 2;
  56     public static final int REAR_RIGHT = 5;
  57
  58     // Encoder related ports
  59     public final static int ENCODER_LEFT_A = 0;
  60     public final static int ENCODER_LEFT_B = 1;
  61     public final static int ENCODER_RIGHT_A = 9;
  62     public final static int ENCODER_RIGHT_B = 8;
  63
  64     public final static int FORWARD_CHANNEL = 0;
  65     public final static int REVERSE_CHANNEL = 1;
  66
  67     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
  68
  69     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
  70     public static double gp = 0.018, gi = 0.000015, gd = 0;
  71     public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
  72
  73     public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
  74
  75     public static final int MODULE_A_ID = 9, MODULE_B_ID = 10;
  76     public static final int LEFT_FORWARD = 1, LEFT_REVERSE = 5,
  77         RIGHT_FORWARD = 0, RIGHT_REVERSE = 6;
  78
  79     public static double time = 0;
  80
  81     // Gearing constants
  82     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
  83     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
  84
  85     public static boolean inverted = false;
  86
  87     public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
  88   }
  89
  90   public static class Scaler {
  91     // Piston channels
  92     public final static int FORWARD_CHANNEL = 6;
  93     public final static int REVERSE_CHANNEL = 0;
  94
  95     // Winch port
  96     public final static int WINCH_MOTOR = 0;
  97
  98     // Winch speeds
  99     public final static double WINCH_STOP_SPEED = 0.0;
 100     public final static double SCALE_SPEED = 0;
 101     public final static double SECONDS_TO_CLAMP = 2.0;
 102
 103     // Winch timeout
 104     public final static int SECONDS_TO_SCALE = 0;
 105
 106     public static boolean SCALING = false;
 107
 108   }
 109
 110   public static class Shooter {
 111     public static final int PORT = 4;
 112     public static final int PUNCH_FORWARD = 5;
 113     public static final int PUNCH_REVERSE = 1;
 114     public static final int ANGLE_ADJUSTER_PORT = 0;
 115
 116     public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kReverse;
 117     public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kForward;
 118
 119     // Encoder port
 120     public static final int ENCODER_PORT_A = 4;
 121     public static final int ENCODER_PORT_B = 5;
 122     public static final int RIGHT_HOOD_FORWARD = 2;
 123     public static final int RIGHT_HOOD_REVERSE = 4;
 124     public static final int LEFT_HOOD_FORWARD = 4;
 125     public static final int LEFT_HOOD_REVERSE = 2;
 126
 127     public static final double DEFAULT_SHOOTER_SPEED = 0.5;
 128
 129     public static final Value open = Value.kForward;
 130     public static final Value closed = Value.kReverse;
 131
 132     public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
 133
 134     public static enum State {
 135       RUNNING, STOPPED;
 136     }
 137   }
 138
 139   public static class IntakeArm {
 140     public static final int ROLLER_PORT = 0;
 141     public static final int LEFT_ARM_PORT = 1;
 142     public static final int RIGHT_ARM_PORT = 1;
 143     public static final int POT_CHANNEL = 0;
 144     public static final double INTAKE_SPEED = 0.5;
 145     public static final double OUTPUT_SPEED = -0.5;
 146     public final static double FULL_RANGE = 270.0; // in degrees
 147     public final static double OFFSET = -135.0; // in degrees
 148     public static final double ZERO_ANGLE = 0;
 149     public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
 150     public static final double STOP_INTAKE_ARM_SPEED = 0.0;
 151   }
 152
 153   public static class DefenseArm {
 154     // Potentiometer related ports
 155     public static final int ARM_CHANNEL = 0;
 156     public static final int ARM_PORT = 0;
 157     public static final int HAND_PORT = 1;
 158     public static final int HAND_CHANNEL = 1;
 159     public final static double FULL_RANGE = 270.0; // in degrees
 160     public final static double OFFSET = -135.0; // in degrees
 161
 162     public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
 163     // level
 164     public final static double ARM_LENGTH = 0; // TODO: find actual length
 165     public final static double HAND_LENGTH = 0; // TODO: find actual length
 166     public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
 167     // height
 168   }
 169
 170   public static class Auton {
 171     /*
 172      * Distance dead reckoning constants
 173      */
 174     public static final double POS1_DIST1 = 109;
 175     public static final double POS1_TURN1 = 60;
 176     public static final double POS1_DIST2 = 0;
 177
 178     // constants for position 2
 179     public static final double POS2_DIST1 = 140;
 180     public static final double POS2_TURN1 = 60;
 181     public static final double POS2_DIST2 = 0;
 182
 183     // constants for position 3
 184     public static final double POS3_DIST1 = 0;
 185     public static final double POS3_TURN1 = 90;
 186     public static final double POS3_DIST2 = 35.5;
 187     public static final double POS3_TURN2 = -90;
 188     public static final double POS3_DIST3 = 0;
 189
 190     // constants for position 4
 191     public static final double POS4_DIST1 = 0;
 192     public static final double POS4_TURN1 = -90;
 193     public static final double POS4_DIST2 = 18.5;
 194     public static final double POS4_TURN2 = 90;
 195     public static final double POS4_DIST3 = 0;
 196
 197     // constants for position 5
 198     public static final double POS5_DIST1 = 0;
 199     public static final double POS5_TURN1 = -90;
 200     public static final double POS5_DIST2 = 72.5;
 201     public static final double POS5_TURN2 = 90;
 202     public static final double POS5_DIST3 = 0;
 203     public static final double DRIVE_MAX_TIMEOUT = 3.0;
 204     public static final double TURN_MAX_TIMEOUT = 5.0;
 205
 206     /*
 207      * Time dead Reckoning constants
 208      */
 209     public static final double POS1_DIST1_TIME = 109;
 210     public static final double POS1_DRIVE_MAXSPEED = 0.5;
 211     public static final double POS1_TURN1_TIME = 60;
 212     public static final double POS1_TURN_MAXSPEED = 0.5;
 213     public static final double POS1_DIST2_TIME = 0;
 214
 215     // constants for position 2
 216
 217     public static final double POS2_DIST1_TIME = 109;
 218     public static final double POS2_DRIVE_MAXSPEED = 0.5;
 219     public static final double POS2_TURN1_TIME = 60;
 220     public static final double POS2_TURN_MAXSPEED = 0.5;
 221     public static final double POS2_DIST2_TIME = 0;
 222
 223     // constants for position 3
 224
 225     public static final double POS3_DIST1_TIME = 109;
 226     public static final double POS3_DRIVE_MAXSPEED = 0.5;
 227     public static final double POS3_TURN1_TIME = 60;
 228     public static final double POS3_TURN_MAXSPEED = 0.5;
 229     public static final double POS3_DIST2_TIME = 0;
 230     // constants for position 4
 231
 232     public static final double POS4_DIST1_TIME = 109;
 233     public static final double POS4_DRIVE_MAXSPEED = 0.5;
 234     public static final double POS4_TURN1_TIME = 60;
 235     public static final double POS4_TURN_MAXSPEED = 0.5;
 236     public static final double POS4_DIST2_TIME = 0;
 237     // constants for position 5
 238
 239     public static final double POS5_DIST1_TIME = 109;
 240     public static final double POS5_DRIVE_MAXSPEED = 0.5;
 241     public static final double POS5_TURN1_TIME = 60;
 242     public static final double POS5_TURN_MAXSPEED = 0.5;
 243     public static final double POS5_DIST2_TIME = 0;
 244
 245     // Passing Defenses Constants
 246
 247     public static final double DEFAULT_SPEED = 0.5;
 248     public static final boolean IS_USING_TIME = true;
 249
 250     // dead reckoning time and speed constants for driving through defenses
 251     // TODO: find the times it takes to pass each defense
 252     public static final double PASS_ROCK_WALL_TIME = 0;
 253     public static final double PASS_ROCK_WALL_SPEED = 0;
 254     public static final double PASS_ROCK_WALL_DIST = 0;
 255     public static final double PASS_LOW_BAR_TIME = 0;
 256     public static final double PASS_LOW_BAR_SPEED = 0;
 257     public static final double PASS_LOW_BAR_DIST = 0;
 258     public static final double PASS_MOAT_TIME = 0;
 259     public static final double PASS_MOAT_SPEED = 0;
 260     public static final double PASS_MOAT_DIST = 0;
 261     public static final double PASS_RAMPART_TIME = 0;
 262     public static final double PASS_RAMPART_SPEED = 0;
 263     public static final double PASS_RAMPART_DIST = 0;
 264     public static final double PASS_ROUGH_TERRAIN_TIME = 0;
 265     public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
 266     public static final double PASS_ROUGH_TERRAIN_DIST = 0;
 267   }
 268
 269   public enum Direction {
 270     UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
 271   }
 272
 273   public enum Defense {
 274     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 275   }
 276 }