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 final static int PCM_MODULE_A = 9;
  14   public final static int PCM_MODULE_B = 10;
  15
  16   public static class OI {
  17     // Computer Ports
  18     public final static int LEFT_STICK_PORT = 0;
  19     public final static int RIGHT_STICK_PORT = 1;
  20
  21     public final static int PASS_PORTCULLIS_PORT = 0;
  22     public final static int PASS_CHEVAL_DE_FRISE_PORT = 0;
  23     public final static int PASS_DRAWBRIDGE_PORT = 0;
  24     public final static int PASS_SALLYPORT_PORT = 0;
  25
  26     public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0;
  27     public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0;
  28     public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0;
  29     public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0;
  30
  31     public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0;
  32     public final static int SPIN1_PORT = 4;
  33     public final static int SPIN2_PORT = 5;
  34     public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
  35     public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;
  36
  37     public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
  38     public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
  39
  40     public final static int TOGGLE_SCALING_PORT = 0;
  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 static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
  58
  59     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
  60     public static double gp = 0.018, gi = 0.000015, gd = 0;
  61     public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
  62
  63     public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
  64     public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5,
  65         RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
  66     public static double time = 0;
  67
  68     // Gearing constants
  69     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
  70     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
  71
  72     public static boolean inverted = false;
  73
  74     public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
  75   }
  76
  77   public static class Scaler {
  78     // Piston channels
  79     public final static int FORWARD_CHANNEL = 6;
  80     public final static int REVERSE_CHANNEL = 0;
  81
  82     // Winch port
  83     public final static int WINCH_MOTOR = 0;
  84
  85     // Winch speeds
  86     public final static double WINCH_STOP_SPEED = 0.0;
  87     public final static double SCALE_SPEED = 0;
  88     public final static double SECONDS_TO_CLAMP = 2.0;
  89
  90     // Winch timeout
  91     public final static int SECONDS_TO_SCALE = 0;
  92
  93     public static boolean SCALING = false;
  94
  95   }
  96
  97   public static class Shooter {
  98     public static final int CATAPULT1_MODULE = PCM_MODULE_A;
  99     public static final int CATAPULT1_FORWARD = 0;
 100     public static final int CATAPULT1_REVERSE = 1;
 101     public static final int CATAPULT2_MODULE = PCM_MODULE_B;
 102     public static final int CATAPULT2_FORWARD = 2;
 103     public static final int CATAPULT2_REVERSE = 3;// TODO Determine actual
 104                                                   // shooter ports
 105
 106     public static final Value shoot = Value.kForward;
 107     public static final Value reset = Value.kReverse;
 108     public static final double WAIT_TIME = 2.0; // In seconds
 109   }
 110
 111   public static class IntakeArm {
 112     public static final int ROLLER_PORT = 0;
 113     public static final int ARM_PORT = 1;
 114     public static final int POT_CHANNEL = 0;
 115     public static final double INTAKE_SPEED = 0.5;
 116     public static final double OUTPUT_SPEED = -0.5;
 117     public final static double FULL_RANGE = 270.0; // in degrees
 118     public final static double OFFSET = -135.0; // in degrees
 119     public static final double ZERO_ANGLE = 0;
 120     public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
 121   }
 122
 123   public static class DefenseArm {
 124     // Potentiometer related ports
 125     public static final int ARM_CHANNEL = 0;
 126     public static final int ARM_PORT = 0;
 127     public static final int HAND_PORT = 1;
 128     public static final int HAND_CHANNEL = 1;
 129     public final static double FULL_RANGE = 270.0; // in degrees
 130     public final static double OFFSET = -135.0; // in degrees
 131
 132     public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
 133     // level
 134     public final static double ARM_LENGTH = 0; // TODO: find actual length
 135     public final static double HAND_LENGTH = 0; // TODO: find actual length
 136     public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
 137     // height
 138   }
 139
 140   public static class Auton {
 141     /*
 142      * Distance dead reckoning constants
 143      */
 144     public static final double POS1_DIST1 = 109;
 145     public static final double POS1_TURN1 = 60;
 146     public static final double POS1_DIST2 = 0;
 147
 148     // constants for position 2
 149     public static final double POS2_DIST1 = 140;
 150     public static final double POS2_TURN1 = 60;
 151     public static final double POS2_DIST2 = 0;
 152
 153     // constants for position 3
 154     public static final double POS3_DIST1 = 0;
 155     public static final double POS3_TURN1 = 90;
 156     public static final double POS3_DIST2 = 35.5;
 157     public static final double POS3_TURN2 = -90;
 158     public static final double POS3_DIST3 = 0;
 159
 160     // constants for position 4
 161     public static final double POS4_DIST1 = 0;
 162     public static final double POS4_TURN1 = -90;
 163     public static final double POS4_DIST2 = 18.5;
 164     public static final double POS4_TURN2 = 90;
 165     public static final double POS4_DIST3 = 0;
 166
 167     // constants for position 5
 168     public static final double POS5_DIST1 = 0;
 169     public static final double POS5_TURN1 = -90;
 170     public static final double POS5_DIST2 = 72.5;
 171     public static final double POS5_TURN2 = 90;
 172     public static final double POS5_DIST3 = 0;
 173     public static final double DRIVE_MAX_TIMEOUT = 3.0;
 174     public static final double TURN_MAX_TIMEOUT = 5.0;
 175
 176     /*
 177      * Time dead Reckoning constants
 178      */
 179     public static final double POS1_DIST1_TIME = 109;
 180     public static final double POS1_DRIVE_MAXSPEED = 0.5;
 181     public static final double POS1_TURN1_TIME = 60;
 182     public static final double POS1_TURN_MAXSPEED = 0.5;
 183     public static final double POS1_DIST2_TIME = 0;
 184
 185     // constants for position 2
 186
 187     public static final double POS2_DIST1_TIME = 109;
 188     public static final double POS2_DRIVE_MAXSPEED = 0.5;
 189     public static final double POS2_TURN1_TIME = 60;
 190     public static final double POS2_TURN_MAXSPEED = 0.5;
 191     public static final double POS2_DIST2_TIME = 0;
 192
 193     // constants for position 3
 194
 195     public static final double POS3_DIST1_TIME = 109;
 196     public static final double POS3_DRIVE_MAXSPEED = 0.5;
 197     public static final double POS3_TURN1_TIME = 60;
 198     public static final double POS3_TURN_MAXSPEED = 0.5;
 199     public static final double POS3_DIST2_TIME = 0;
 200     // constants for position 4
 201
 202     public static final double POS4_DIST1_TIME = 109;
 203     public static final double POS4_DRIVE_MAXSPEED = 0.5;
 204     public static final double POS4_TURN1_TIME = 60;
 205     public static final double POS4_TURN_MAXSPEED = 0.5;
 206     public static final double POS4_DIST2_TIME = 0;
 207     // constants for position 5
 208
 209     public static final double POS5_DIST1_TIME = 109;
 210     public static final double POS5_DRIVE_MAXSPEED = 0.5;
 211     public static final double POS5_TURN1_TIME = 60;
 212     public static final double POS5_TURN_MAXSPEED = 0.5;
 213     public static final double POS5_DIST2_TIME = 0;
 214
 215     // Passing Defenses Constants
 216
 217     public static final double DEFAULT_SPEED = 0.5;
 218     public static final boolean IS_USING_TIME = true;
 219
 220     // dead reckoning time and speed constants for driving through defenses
 221     // TODO: find the times it takes to pass each defense
 222     public static final double PASS_ROCK_WALL_TIME = 0;
 223     public static final double PASS_ROCK_WALL_SPEED = 0;
 224     public static final double PASS_ROCK_WALL_DIST = 0;
 225     public static final double PASS_LOW_BAR_TIME = 0;
 226     public static final double PASS_LOW_BAR_SPEED = 0;
 227     public static final double PASS_LOW_BAR_DIST = 0;
 228     public static final double PASS_MOAT_TIME = 0;
 229     public static final double PASS_MOAT_SPEED = 0;
 230     public static final double PASS_MOAT_DIST = 0;
 231     public static final double PASS_RAMPART_TIME = 0;
 232     public static final double PASS_RAMPART_SPEED = 0;
 233     public static final double PASS_RAMPART_DIST = 0;
 234     public static final double PASS_ROUGH_TERRAIN_TIME = 0;
 235     public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
 236     public static final double PASS_ROUGH_TERRAIN_DIST = 0;
 237   }
 238
 239   public enum Direction {
 240     UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
 241   }
 242
 243   public enum Defense {
 244     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 245   }
 246 }