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 LEFT_JOYSTICK_TRIGGER_PORT = 1;
  22
  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;
  26
  27   }
  28
  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;
  35
  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;
  41
  42     public static final int LEFT_MODULE = PCM_MODULE_B;
  43     public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5;
  44     public static final int RIGHT_MODULE = PCM_MODULE_B;
  45     public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
  46
  47     public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
  48
  49     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
  50     public static double encoderTolerance = 8.0;
  51
  52     // Gearing constants
  53     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
  54     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
  55
  56     public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
  57   }
  58
  59   public static class Scaler {
  60     // Piston channels
  61     public final static int FORWARD_CHANNEL = 6;
  62     public final static int REVERSE_CHANNEL = 0;
  63
  64     // Winch port
  65     public final static int WINCH_MOTOR = 0;
  66
  67     // Winch speeds
  68     public final static double WINCH_STOP_SPEED = 0.0;
  69     public final static double SCALE_SPEED = 0;
  70     public final static double SECONDS_TO_CLAMP = 2.0;
  71
  72     // Winch timeout
  73     public final static int SECONDS_TO_SCALE = 0;
  74
  75     public static boolean SCALING = false;
  76
  77   }
  78
  79   public static class Shooter {
  80     public static final int CATAPULT1_MODULE = PCM_MODULE_B;
  81     public static final int CATAPULT1_FORWARD = 0;
  82     public static final int CATAPULT1_REVERSE = 6;
  83     public static final int CATAPULT2_MODULE = PCM_MODULE_B;
  84     public static final int CATAPULT2_FORWARD = 1;
  85     public static final int CATAPULT2_REVERSE = 7;// TODO Determine actual
  86                                                   // shooter ports
  87
  88     public static final Value shoot = Value.kForward;
  89     public static final Value reset = Value.kReverse;
  90     public static final double WAIT_TIME = 2.0; // In seconds
  91   }
  92
  93   public static class IntakeArm {
  94     public static final int ROLLER_PORT = 3;
  95
  96     // for pistons
  97     public static final int LEFT_FORWARD = 0;
  98     public static final int LEFT_REVERSE = 1;
  99
 100     public static final int RIGHT_FORWARD = 2;
 101     public static final int RIGHT_REVERSE = 3;
 102
 103     public static final Value EXTEND = DoubleSolenoid.Value.kForward;
 104     public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
 105
 106     // for roller
 107     public static final double INTAKE_SPEED = 0.5;
 108     public static final double OUTPUT_SPEED = -0.5;
 109   }
 110 }