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 = 0;
  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;
  35
  36     public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
  37     public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
  38
  39     public final static int TOGGLE_SCALING_PORT = 0;
  40
  41   }
  42
  43   public static class DriveTrain {
  44     // Drivetrain Motor Related Ports
  45     public static final int FRONT_LEFT = 1;
  46     public static final int FRONT_RIGHT = 4;
  47     public static final int REAR_LEFT = 2;
  48     public static final int REAR_RIGHT = 3;
  49
  50     // Encoder related ports
  51     public final static int ENCODER_LEFT_A = 0;
  52     public final static int ENCODER_LEFT_B = 1;
  53     public final static int ENCODER_RIGHT_A = 9;
  54     public final static int ENCODER_RIGHT_B = 8;
  55
  56     public final static int FORWARD_CHANNEL = 0;
  57     public final static int REVERSE_CHANNEL = 0;
  58
  59     private final static double WHEEL_DIAMETER = 6.0; // in inches
  60     private final static double PULSES_PER_ROTATION = 256; // in pulses
  61     private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
  62     private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
  63     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
  64         / 256;
  65
  66     public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
  67     public static final int LEFT_FORWARD = 0, LEFT_REVERSE = 1,
  68         RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
  69     public static double time = 0;
  70
  71     // Gearing constants
  72     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
  73     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
  74
  75     public static boolean inverted = false;
  76
  77     public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
  78   }
  79
  80   public static class Scaler {
  81     // Piston channels
  82     public final static int FORWARD_CHANNEL = 0;
  83     public final static int REVERSE_CHANNEL = 1;
  84
  85     // Winch port
  86     public final static int WINCH_MOTOR = 0;
  87
  88     // Winch speeds
  89     public final static double WINCH_STOP_SPEED = 0.0;
  90     public final static double SCALE_SPEED = 0;
  91     public final static double SECONDS_TO_CLAMP = 2.0;
  92
  93     // Winch timeout
  94     public final static int SECONDS_TO_SCALE = 0;
  95
  96     public static boolean SCALING = false;
  97
  98   }
  99
 100   public static class Shooter {
 101     public static final int PORT = 0;
 102     public static final int PUNCH_FORWARD = 0;
 103     public static final int PUNCH_REVERSE = 1;
 104     public static final int ANGLE_ADJUSTER_PORT = 0;
 105
 106     public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
 107     public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
 108
 109     // Encoder port
 110     public static final int ENCODER_PORT_A = 0;
 111     public static final int ENCODER_PORT_B = 0;
 112     public static final int HOOD_FORWARD = 2;
 113     public static final int HOOD_REVERSE = 3;
 114
 115     public static final Value open = Value.kForward;
 116     public static final Value closed = Value.kReverse;
 117
 118     public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
 119
 120     public static enum State {
 121       RUNNING, STOPPED;
 122     }
 123   }
 124
 125   public static class DeadReckoning {
 126     public static final double DEFAULT_SPEED = 0.5;
 127     public static boolean isDeadReckoning;
 128
 129     // dead reckoning time and speed constants for driving through defenses
 130     public static double passRockWallTime = 0;
 131     public static double passRockWallSpeed = 0;
 132     public static double passRockWallDistance = 0;
 133     public static double passLowBarTime = 0;
 134     public static double passLowBarSpeed = 0;
 135     public static double passLowBarDistance = 0;
 136     public static double passMoatTime = 0;
 137     public static double passMoatSpeed = 0;
 138     public static double passMoatDistance = 0;
 139     public static double passRampartTime = 0;
 140     public static double passRampartSpeed = 0;
 141     public static double passRampartDistance = 0;
 142     public static double passRoughTerrainTime = 0;
 143     public static double passRoughTerrainSpeed = 0;
 144     public static double passRoughTerrainDistance = 0;
 145
 146   }
 147
 148   public static class IntakeArm {
 149     public static final int ROLLER_PORT = 0;
 150     public static final int ARM_PORT = 1;
 151     public static final int POT_CHANNEL = 0;
 152     public static final double INTAKE_SPEED = 0.5;
 153     public static final double OUTPUT_SPEED = -0.5;
 154     public final static double FULL_RANGE = 270.0; // in degrees
 155     public final static double OFFSET = -135.0; // in degrees
 156     public static final double ZERO_ANGLE = 0;
 157   }
 158
 159   public static class DefenseArm {
 160     // Potentiometer related ports
 161     public static final int ARM_CHANNEL = 0;
 162     public static final int ARM_PORT = 0;
 163     public static final int HAND_PORT = 1;
 164     public static final int HAND_CHANNEL = 1;
 165     public final static double FULL_RANGE = 270.0; // in degrees
 166     public final static double OFFSET = -135.0; // in degrees
 167
 168     public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
 169     // level
 170     public final static double ARM_LENGTH = 0; // TODO: find actual length
 171     public final static double HAND_LENGTH = 0; // TODO: find actual length
 172     public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
 173     // height
 174   }
 175
 176   public enum Direction {
 177     UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
 178   }
 179
 180   public enum Defense {
 181     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 182   }
 183 }