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
   5 /**
   6  * The Constants stores constant values for all subsystems. This includes the
   7  * port values for motors and sensors, as well as important operational
   8  * constants for subsystems such as max and min values.
   9  */
  10
  11 public class Constants {
  12   public static class OI {
  13     // Computer Ports
  14     public final static int LEFT_STICK_PORT = 0;
  15     public final static int RIGHT_STICK_PORT = 1;
  16     // Ports on the Joystick
  17     public final static int TRIGGER_PORT = 1;
  18     public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
  19     public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
  20     public final static int SHOOT_PORT = 4;
  21     public final static int LOG_PORT = 5;
  22   }
  23
  24   public static class DriveTrain {
  25     // Drivetrain Motor Related Ports
  26     public static final int FRONT_LEFT = 1;
  27     public static final int FRONT_RIGHT = 4;
  28     public static final int REAR_LEFT = 2;
  29     public static final int REAR_RIGHT = 3;
  30
  31     // Encoder related ports
  32     public final static int ENCODER_LEFT_A = 0;
  33     public final static int ENCODER_LEFT_B = 1;
  34     public final static int ENCODER_RIGHT_A = 9;
  35     public final static int ENCODER_RIGHT_B = 8;
  36
  37     private final static double WHEEL_DIAMETER = 6.0; // in inches
  38     private final static double PULSES_PER_ROTATION = 256; // in pulses
  39     private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
  40     private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
  41     public static final double INCHES_PER_PULSE =
  42         ((3.66 / 5.14) * 6 * Math.PI) / 256;
  43
  44     public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
  45     public static double time = 0;
  46   }
  47
  48   public static class Scaler {
  49     // Piston channels
  50     public final static int FORWARD_CHANNEL = 0;
  51     public final static int REVERSE_CHANNEL = 0;
  52
  53     // Winch port
  54     public final static int WINCH_MOTOR = 0;
  55
  56   }
  57
  58   public static class Shooter {
  59     public static final int PORT = 0;
  60     public static final int PUNCH_FORWARD_PORT = 0;
  61     public static final int PUNCH_REVERSE_PORT = 1;
  62     public static final int ANGLE_ADJUSTER_PORT = 0;
  63
  64     public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
  65     public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
  66
  67     // Encoder port
  68     public static final int ENCODER_PORT_A = 0;
  69     public static final int ENCODER_PORT_B = 0;
  70
  71     public static enum State {
  72       RUNNING, STOPPED;
  73     }
  74   }
  75
  76   public static class IntakeArm {
  77     public static final int ROLLER_PORT = 0;
  78     public static final int ARM_PORT = 1;
  79     public static final int POT_CHANNEL = 0;
  80     public static final double INTAKE_SPEED = 0.5;
  81     public static final double OUTPUT_SPEED = -0.5;
  82     public final static double FULL_RANGE = 270.0; // in degrees
  83     public final static double OFFSET = -135.0; // in degrees
  84     public static final double ZERO_ANGLE = 0;
  85   }
  86
  87   public static class DefenseArm {
  88     // Potentiometer related ports
  89     public static final int ARM_CHANNEL = 0;
  90     public static final int ARM_PORT = 0;
  91     public static final int HAND_PORT = 1;
  92     public static final int HAND_CHANNEL = 1;
  93     public final static double FULL_RANGE = 270.0; // in degrees
  94     public final static double OFFSET = -135.0; // in degrees
  95     public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
  96     // level
  97     public final static double ARM_LENGTH = 0; // TODO: find actual length
  98     public final static double HAND_LENGTH = 0; // TODO: find actual length
  99     public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
 100     // height
 101   }
 102
 103   public enum Defense {
 104     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 105   }
 106 }