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
   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 static class OI {
  14     // Computer Ports
  15     public final static int LEFT_STICK_PORT = 0;
  16     public final static int RIGHT_STICK_PORT = 1;
  17     // Ports on the Joystick
  18     public final static int TRIGGER_PORT = 1;
  19     public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
  20     public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
  21     public final static int SHOOT_PORT = 4;
  22     public final static int LOG_PORT = 5;
  23   }
  24
  25   public static class DriveTrain {
  26     // Drivetrain Motor Related Ports
  27     public static final int FRONT_LEFT = 1;
  28     public static final int FRONT_RIGHT = 4;
  29     public static final int REAR_LEFT = 2;
  30     public static final int REAR_RIGHT = 3;
  31
  32     // Encoder related ports
  33     public final static int ENCODER_LEFT_A = 0;
  34     public final static int ENCODER_LEFT_B = 1;
  35     public final static int ENCODER_RIGHT_A = 9;
  36     public final static int ENCODER_RIGHT_B = 8;
  37
  38     public final static int FORWARD_CHANNEL = 0;
  39     public final static int REVERSE_CHANNEL = 0;
  40
  41     private final static double WHEEL_DIAMETER = 6.0; // in inches
  42     private final static double PULSES_PER_ROTATION = 256; // in pulses
  43     private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
  44     private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
  45     public static final double INCHES_PER_PULSE =
  46         ((3.66 / 5.14) * 6 * Math.PI) / 256;
  47
  48     public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
  49     public static final int LEFT_FORWARD = 0, LEFT_REVERSE = 1,
  50         RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
  51     public static double time = 0;
  52
  53     // Gearing constants
  54     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
  55     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
  56
  57   }
  58
  59   public static class Scaler {
  60     // Piston channels
  61     public final static int FORWARD_CHANNEL = 0;
  62     public final static int REVERSE_CHANNEL = 1;
  63
  64     // Winch port
  65     public final static int WINCH_MOTOR = 0;
  66
  67     // Winch speeds
  68     public final static double WINCH_STOP_SPEED = 0.0;
  69     public final static double SECONDS_TO_CLAMP = 2.0;
  70   }
  71
  72   public static class Shooter {
  73     public static final int PORT = 0;
  74     public static final int PUNCH_FORWARD_PORT = 0;
  75     public static final int PUNCH_REVERSE_PORT = 1;
  76     public static final int ANGLE_ADJUSTER_PORT = 0;
  77
  78     public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
  79     public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
  80
  81     // Encoder port
  82     public static final int ENCODER_PORT_A = 0;
  83     public static final int ENCODER_PORT_B = 0;
  84
  85     public static enum State {
  86       RUNNING, STOPPED;
  87     }
  88   }
  89
  90   public static class IntakeArm {
  91     public static final int ROLLER_PORT = 0;
  92     public static final int ARM_PORT = 1;
  93     public static final int POT_CHANNEL = 0;
  94     public static final double INTAKE_SPEED = 0.5;
  95     public static final double OUTPUT_SPEED = -0.5;
  96     public final static double FULL_RANGE = 270.0; // in degrees
  97     public final static double OFFSET = -135.0; // in degrees
  98     public static final double ZERO_ANGLE = 0;
  99   }
 100
 101   public static class DefenseArm {
 102     // Potentiometer related ports
 103     public static final int ARM_CHANNEL = 0;
 104     public static final int ARM_PORT = 0;
 105     public static final int HAND_PORT = 1;
 106     public static final int HAND_CHANNEL = 1;
 107     public final static double FULL_RANGE = 270.0; // in degrees
 108     public final static double OFFSET = -135.0; // in degrees
 109     public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
 110     // level
 111     public final static double ARM_LENGTH = 0; // TODO: find actual length
 112     public final static double HAND_LENGTH = 0; // TODO: find actual length
 113     public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
 114     // height
 115   }
 116
 117   public enum Defense {
 118     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 119   }
 120 }