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     // Left Joystick
  22     public final static int LEFT_JOYSTICK_GEAR_SHIFT_PORT = 1;
  23     public final static int LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT = 3;
  24     public final static int LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT = 5;
  25     public final static int LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT = 4;
  26     public final static int LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT = 6;
  27     public final static int LEFT_JOYSTICK_TOGGLE_FRONT_PORT = 7;
  28
  29     // Right Joystick
  30     public final static int RIGHT_JOYSTICK_INTAKE_PORT = 1;
  31     public final static int RIGHT_JOYSTICK_OUTTAKE_1_PORT = 3;
  32     public final static int RIGHT_JOYSTICK_OUTTAKE_2_PORT = 4;
  33     public final static int RIGHT_JOYSTICK_SHOOTER_UP_PORT = 2;
  34     public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT = 5;
  35     public final static int RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT = 6;
  36
  37   }
  38
  39   public static class DriveTrain {
  40     // Limits changes in speed during joystick driving
  41     public static final double kADJUST = 8;
  42
  43     // Drivetrain Motor related ports
  44     public static final int DRIVE_FRONT_LEFT = 1;
  45     public static final int DRIVE_REAR_LEFT = 2;
  46     public static final int DRIVE_FRONT_RIGHT = 6;
  47     public static final int DRIVE_REAR_RIGHT = 5;
  48
  49     // Drivetrain shifter related ports
  50     public static final int LEFT_SHIFT_MODULE = PCM_MODULE_B;
  51     public static final int LEFT_SHIFT_FORWARD = 6;
  52     public static final int LEFT_SHIFT_REVERSE = 3;
  53     public static final int RIGHT_SHIFT_MODULE = PCM_MODULE_B;
  54     public static final int RIGHT_SHIFT_FORWARD = 2;
  55     public static final int RIGHT_SHIFT_REVERSE = 7;
  56
  57     // Encoder related ports
  58     public final static int ENCODER_LEFT_A = 0;
  59     public final static int ENCODER_LEFT_B = 1;
  60     public final static int ENCODER_RIGHT_A = 3;
  61     public final static int ENCODER_RIGHT_B = 4;
  62
  63     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
  64
  65     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
  66     public static double encoderTolerance = 8.0;
  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
  73   public static class Shooter {
  74     public static final int CATAPULT1_MODULE = PCM_MODULE_B;
  75     public static final int CATAPULT1_FORWARD = 4;
  76     public static final int CATAPULT1_REVERSE = 1;
  77     public static final int CATAPULT2_MODULE = PCM_MODULE_A;
  78     public static final int CATAPULT2_FORWARD = 0;
  79     public static final int CATAPULT2_REVERSE = 1;
  80
  81     public static final Value SHOOT = Value.kForward;
  82     public static final Value RESET = Value.kReverse;
  83     public static final double WAIT_TIME = 2.0; // In seconds
  84
  85     // TODO: test for this time
  86
  87   }
  88
  89   public static class IntakeArm {
  90     public static final int INTAKE_ROLLER_PORT = 8;
  91
  92     // for pistons
  93     public static final int LEFT_INTAKE_MODULE = PCM_MODULE_A;
  94     public static final int LEFT_INTAKE_FORWARD = 5;
  95     public static final int LEFT_INTAKE_REVERSE = 2;
  96     public static final int RIGHT_INTAKE_MODULE = PCM_MODULE_B;
  97     public static final int RIGHT_INTAKE_FORWARD = 5;
  98     public static final int RIGHT_INTAKE_REVERSE = 0;
  99
 100     public static final Value EXTEND = DoubleSolenoid.Value.kForward;
 101     public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
 102
 103     public static final int IN = 1;
 104     public static final int STOP = 0;
 105     public static final int OUT = -1;
 106
 107     // for roller
 108     public static final double INTAKE_SPEED = 0.7;
 109     public static final double OUTPUT_SPEED = -0.7;
 110   }
 111
 112   public static class Auton { // TODO: test for all these values
 113     // Defense crossing speeds from -1 to 1
 114     public static final double DEFAULT_SPEED = 0.3;
 115     public static final double MOAT_SPEED = 0.6;
 116     public static final double ROCK_WALL_SPEED = 0.8;
 117     public static final double ROUGH_TERRAIN_SPEED = 0.7;
 118     public static final double RAMPART_SPEED = 0.4;
 119     public static final double LOW_BAR_SPEED = 0.5;
 120
 121     // Defense crossing times in seconds
 122     public static final double DEFAULT_TIME = 10.0;
 123     public static final double MOAT_TIME = 7.0;
 124     public static final double ROCK_WALL_TIME = 8.0;
 125     public static final double ROUGH_TERRAIN_TIME = 6.0;
 126     public static final double RAMPART_TIME = 10.0;
 127     public static final double LOW_BAR_TIME = 6.0;
 128
 129     // Time to wait before shooting in seconds
 130     public static final double WAIT_TIME = 1.0;
 131   }
 132
 133   public enum Defense {
 134     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHIVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART, NONE;
 135   }
 136 }