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