1 package org
.usfirst
.frc
.team3501
.robot
;
3 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
4 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
.Value
;
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.
12 public class Constants
{
13 public final static int PCM_MODULE_A
= 9;
14 public final static int PCM_MODULE_B
= 10;
16 public static class OI
{
18 public final static int LEFT_STICK_PORT
= 0;
19 public final static int RIGHT_STICK_PORT
= 1;
21 public final static int LEFT_JOYSTICK_TRIGGER_PORT
= 1;
23 public final static int RIGHT_JOYSTICK_TRIGGER_PORT
= 1;
24 public final static int RIGHT_JOYSTICK_THUMB_PORT
= 2;
25 public final static int RIGHT_JOYSTICK_SHOOT_PORT
= 3;
29 public static class DriveTrain
{
30 // Drivetrain Motor Related Ports
31 public static final int FRONT_LEFT
= 1;
32 public static final int FRONT_RIGHT
= 6;
33 public static final int REAR_LEFT
= 2;
34 public static final int REAR_RIGHT
= 5;
36 // Encoder related ports
37 public final static int ENCODER_LEFT_A
= 0;
38 public final static int ENCODER_LEFT_B
= 1;
39 public final static int ENCODER_RIGHT_A
= 3;
40 public final static int ENCODER_RIGHT_B
= 4;
42 public static final int LEFT_MODULE
= PCM_MODULE_B
;
43 public static final int LEFT_FORWARD
= 1, LEFT_REVERSE
= 6;
44 public static final int RIGHT_MODULE
= PCM_MODULE_B
;
45 public static final int RIGHT_FORWARD
= 0, RIGHT_REVERSE
= 7;
47 public static final double INCHES_PER_PULSE
= ((3.66 / 5.14) * 6 * Math
.PI
) / 256;
49 public static double kp
= 0.013, ki
= 0.000015, kd
= -0.002;
50 public static double encoderTolerance
= 8.0;
53 public static final Value HIGH_GEAR
= DoubleSolenoid
.Value
.kForward
;
54 public static final Value LOW_GEAR
= DoubleSolenoid
.Value
.kReverse
;
57 public static class Shooter
{
58 public static final int CATAPULT1_MODULE
= PCM_MODULE_A
;
59 public static final int CATAPULT1_FORWARD
= 0;
60 public static final int CATAPULT1_REVERSE
= 1;
61 public static final int CATAPULT2_MODULE
= PCM_MODULE_A
;
62 public static final int CATAPULT2_FORWARD
= 2;
63 public static final int CATAPULT2_REVERSE
= 3;
64 // TODO Determine actual shooter ports
66 public static final Value shoot
= Value
.kForward
;
67 public static final Value reset
= Value
.kReverse
;
68 public static final double WAIT_TIME
= 2.0; // In seconds
71 public static class IntakeArm
{
72 public static final int INTAKE_ROLLER_PORT
= 3;
75 public static final int LEFT_INTAKE_MODULE
= PCM_MODULE_A
;
76 public static final int LEFT_INTAKE_FORWARD
= 4;
77 public static final int LEFT_INTAKE_REVERSE
= 5;
78 public static final int RIGHT_INTAKE_MODULE
= PCM_MODULE_A
;
79 public static final int RIGHT_INTAKE_FORWARD
= 6;
80 public static final int RIGHT_INTAKE_REVERSE
= 7;
81 // TODO Determine actual intake ports
83 public static final Value EXTEND
= DoubleSolenoid
.Value
.kForward
;
84 public static final Value RETRACT
= DoubleSolenoid
.Value
.kReverse
;
87 public static final double INTAKE_SPEED
= 0.5;
88 public static final double OUTPUT_SPEED
= -0.5;