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)
  58         / 256;
  59
  60     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
  61     public static double gp = 0.018, gi = 0.000015, gd = 0;
  62     public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
  63
  64     public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
  65     public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5,
  66         RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
  67     public static double time = 0;
  68
  69     // Gearing constants
  70     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
  71     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
  72
  73     public static boolean inverted = false;
  74
  75     public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
  76   }
  77
  78   public static class Scaler {
  79     // Piston channels
  80     public final static int FORWARD_CHANNEL = 6;
  81     public final static int REVERSE_CHANNEL = 0;
  82
  83     // Winch port
  84     public final static int WINCH_MOTOR = 0;
  85
  86     // Winch speeds
  87     public final static double WINCH_STOP_SPEED = 0.0;
  88     public final static double SCALE_SPEED = 0;
  89     public final static double SECONDS_TO_CLAMP = 2.0;
  90
  91     // Winch timeout
  92     public final static int SECONDS_TO_SCALE = 0;
  93
  94     public static boolean SCALING = false;
  95
  96   }
  97
  98   public static class Shooter {
  99     public static final int CATAPULT1_MODULE = PCM_MODULE_A;
 100     public static final int CATAPULT1_FORWARD = 0;
 101     public static final int CATAPULT1_REVERSE = 1;
 102     public static final int CATAPULT2_MODULE = PCM_MODULE_B;
 103     public static final int CATAPULT2_FORWARD = 2;
 104     public static final int CATAPULT2_REVERSE = 3;// TODO Determine actual
 105                                                   // shooter ports
 106
 107     public static final Value shoot = Value.kForward;
 108     public static final Value reset = Value.kReverse;
 109     public static final double WAIT_TIME = 2.0; // In seconds
 110   }
 111
 112   public static class IntakeArm {
 113     public static final int ROLLER_PORT = 0;
 114
 115     // for pistons
 116     public static final int LEFT_FORWARD = 0;
 117     public static final int LEFT_REVERSE = 1;
 118
 119     public static final int RIGHT_FORWARD = 2;
 120     public static final int RIGHT_REVERSE = 3;
 121
 122     // for roller
 123     public static final double INTAKE_SPEED = 0.5;
 124     public static final double OUTPUT_SPEED = -0.5;
 125   }
 126
 127   public static class DefenseArm {
 128     // Potentiometer related ports
 129     public static final int ARM_CHANNEL = 0;
 130     public static final int ARM_PORT = 0;
 131     public static final int HAND_PORT = 1;
 132     public static final int HAND_CHANNEL = 1;
 133     public final static double FULL_RANGE = 270.0; // in degrees
 134     public final static double OFFSET = -135.0; // in degrees
 135
 136     public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
 137     // level
 138     public final static double ARM_LENGTH = 0; // TODO: find actual length
 139     public final static double HAND_LENGTH = 0; // TODO: find actual length
 140     public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
 141     // height
 142   }
 143
 144   public static class Auton {
 145     /*
 146      * Distance dead reckoning constants
 147      */
 148     public static final double POS1_DIST1 = 109;
 149     public static final double POS1_TURN1 = 60;
 150     public static final double POS1_DIST2 = 0;
 151
 152     // constants for position 2
 153     public static final double POS2_DIST1 = 140;
 154     public static final double POS2_TURN1 = 60;
 155     public static final double POS2_DIST2 = 0;
 156
 157     // constants for position 3
 158     public static final double POS3_DIST1 = 0;
 159     public static final double POS3_TURN1 = 90;
 160     public static final double POS3_DIST2 = 35.5;
 161     public static final double POS3_TURN2 = -90;
 162     public static final double POS3_DIST3 = 0;
 163
 164     // constants for position 4
 165     public static final double POS4_DIST1 = 0;
 166     public static final double POS4_TURN1 = -90;
 167     public static final double POS4_DIST2 = 18.5;
 168     public static final double POS4_TURN2 = 90;
 169     public static final double POS4_DIST3 = 0;
 170
 171     // constants for position 5
 172     public static final double POS5_DIST1 = 0;
 173     public static final double POS5_TURN1 = -90;
 174     public static final double POS5_DIST2 = 72.5;
 175     public static final double POS5_TURN2 = 90;
 176     public static final double POS5_DIST3 = 0;
 177     public static final double DRIVE_MAX_TIMEOUT = 3.0;
 178     public static final double TURN_MAX_TIMEOUT = 5.0;
 179
 180     /*
 181      * Time dead Reckoning constants
 182      */
 183     public static final double POS1_DIST1_TIME = 109;
 184     public static final double POS1_DRIVE_MAXSPEED = 0.5;
 185     public static final double POS1_TURN1_TIME = 60;
 186     public static final double POS1_TURN_MAXSPEED = 0.5;
 187     public static final double POS1_DIST2_TIME = 0;
 188
 189     // constants for position 2
 190
 191     public static final double POS2_DIST1_TIME = 109;
 192     public static final double POS2_DRIVE_MAXSPEED = 0.5;
 193     public static final double POS2_TURN1_TIME = 60;
 194     public static final double POS2_TURN_MAXSPEED = 0.5;
 195     public static final double POS2_DIST2_TIME = 0;
 196
 197     // constants for position 3
 198
 199     public static final double POS3_DIST1_TIME = 109;
 200     public static final double POS3_DRIVE_MAXSPEED = 0.5;
 201     public static final double POS3_TURN1_TIME = 60;
 202     public static final double POS3_TURN_MAXSPEED = 0.5;
 203     public static final double POS3_DIST2_TIME = 0;
 204     // constants for position 4
 205
 206     public static final double POS4_DIST1_TIME = 109;
 207     public static final double POS4_DRIVE_MAXSPEED = 0.5;
 208     public static final double POS4_TURN1_TIME = 60;
 209     public static final double POS4_TURN_MAXSPEED = 0.5;
 210     public static final double POS4_DIST2_TIME = 0;
 211     // constants for position 5
 212
 213     public static final double POS5_DIST1_TIME = 109;
 214     public static final double POS5_DRIVE_MAXSPEED = 0.5;
 215     public static final double POS5_TURN1_TIME = 60;
 216     public static final double POS5_TURN_MAXSPEED = 0.5;
 217     public static final double POS5_DIST2_TIME = 0;
 218
 219     // Passing Defenses Constants
 220
 221     public static final double DEFAULT_SPEED = 0.5;
 222     public static final boolean IS_USING_TIME = true;
 223
 224     // dead reckoning time and speed constants for driving through defenses
 225     // TODO: find the times it takes to pass each defense
 226     public static final double PASS_ROCK_WALL_TIME = 0;
 227     public static final double PASS_ROCK_WALL_SPEED = 0;
 228     public static final double PASS_ROCK_WALL_DIST = 0;
 229     public static final double PASS_LOW_BAR_TIME = 0;
 230     public static final double PASS_LOW_BAR_SPEED = 0;
 231     public static final double PASS_LOW_BAR_DIST = 0;
 232     public static final double PASS_MOAT_TIME = 0;
 233     public static final double PASS_MOAT_SPEED = 0;
 234     public static final double PASS_MOAT_DIST = 0;
 235     public static final double PASS_RAMPART_TIME = 0;
 236     public static final double PASS_RAMPART_SPEED = 0;
 237     public static final double PASS_RAMPART_DIST = 0;
 238     public static final double PASS_ROUGH_TERRAIN_TIME = 0;
 239     public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
 240     public static final double PASS_ROUGH_TERRAIN_DIST = 0;
 241   }
 242
 243   public enum Direction {
 244     UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
 245   }
 246
 247   public enum Defense {
 248     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 249   }
 250 }