1 package org
.usfirst
.frc
.team3501
.robot
;
3 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
4 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
.Value
;
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.
12 public class Constants
{
13 public static class OI
{
15 public final static int LEFT_STICK_PORT
= 0;
16 public final static int RIGHT_STICK_PORT
= 1;
18 public final static int PASS_PORTCULLIS_PORT
= 0;
19 public final static int PASS_CHEVAL_DE_FRISE_PORT
= 0;
20 public final static int PASS_DRAWBRIDGE_PORT
= 0;
21 public final static int PASS_SALLYPORT_PORT
= 0;
23 public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT
= 0;
24 public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT
= 0;
25 public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT
= 0;
26 public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT
= 0;
28 public final static int LEFT_JOYSTICK_TRIGGER_PORT
= 0;
29 public final static int SPIN1_PORT
= 4;
30 public final static int SPIN2_PORT
= 5;
31 public final static int LEFT_JOYSTICK_TOP_CENTER_PORT
= 3;
32 public final static int LEFT_JOYSTICK_TOP_LOW_PORT
= 2;
34 public final static int RIGHT_JOYSTICK_TRIGGER_PORT
= 0;
35 public final static int RIGHT_JOYSTICK_THUMB_PORT
= 2;
37 public final static int TOGGLE_SCALING_PORT
= 0;
41 public static class DriveTrain
{
42 // Drivetrain Motor Related Ports
43 public static final int FRONT_LEFT
= 1;
44 public static final int FRONT_RIGHT
= 4;
45 public static final int REAR_LEFT
= 2;
46 public static final int REAR_RIGHT
= 3;
48 // Encoder related ports
49 public final static int ENCODER_LEFT_A
= 0;
50 public final static int ENCODER_LEFT_B
= 1;
51 public final static int ENCODER_RIGHT_A
= 9;
52 public final static int ENCODER_RIGHT_B
= 8;
54 public final static int FORWARD_CHANNEL
= 0;
55 public final static int REVERSE_CHANNEL
= 0;
57 private final static double WHEEL_DIAMETER
= 6.0; // in inches
58 private final static double PULSES_PER_ROTATION
= 256; // in pulses
59 private final static double OUTPUT_SPROCKET_DIAMETER
= 2.0; // in inches
60 private final static double WHEEL_SPROCKET_DIAMETER
= 3.5; // in inches
61 public static final double INCHES_PER_PULSE
= ((3.66 / 5.14) * 6 * Math
.PI
)
64 public static final int MANUAL_MODE
= 1, ENCODER_MODE
= 2, GYRO_MODE
= 3;
65 public static final int LEFT_FORWARD
= 0, LEFT_REVERSE
= 1,
66 RIGHT_FORWARD
= 2, RIGHT_REVERSE
= 3;
67 public static double time
= 0;
70 public static final Value HIGH_GEAR
= DoubleSolenoid
.Value
.kForward
;
71 public static final Value LOW_GEAR
= DoubleSolenoid
.Value
.kReverse
;
73 public static boolean inverted
= false;
77 public static class Scaler
{
79 public final static int FORWARD_CHANNEL
= 0;
80 public final static int REVERSE_CHANNEL
= 1;
83 public final static int WINCH_MOTOR
= 0;
86 public final static double WINCH_STOP_SPEED
= 0.0;
87 public final static double WINCH_IN_SPEED
= 0;
88 public final static double SECONDS_TO_CLAMP
= 2.0;
90 public static boolean SCALING
= false;
94 public static class Shooter
{
95 public static final int PORT
= 0;
96 public static final int PUNCH_FORWARD
= 0;
97 public static final int PUNCH_REVERSE
= 1;
98 public static final int ANGLE_ADJUSTER_PORT
= 0;
100 public static final DoubleSolenoid
.Value punch
= DoubleSolenoid
.Value
.kForward
;
101 public static final DoubleSolenoid
.Value retract
= DoubleSolenoid
.Value
.kReverse
;
104 public static final int ENCODER_PORT_A
= 0;
105 public static final int ENCODER_PORT_B
= 0;
106 public static final int HOOD_FORWARD
= 2;
107 public static final int HOOD_REVERSE
= 3;
109 public static final Value open
= Value
.kForward
;
110 public static final Value closed
= Value
.kReverse
;
112 public static enum State
{
117 public static class DeadReckoning
{
118 public static final double DEFAULT_SPEED
= 0.5;
121 public static class IntakeArm
{
122 public static final int ROLLER_PORT
= 0;
123 public static final int ARM_PORT
= 1;
124 public static final int POT_CHANNEL
= 0;
125 public static final double INTAKE_SPEED
= 0.5;
126 public static final double OUTPUT_SPEED
= -0.5;
127 public final static double FULL_RANGE
= 270.0; // in degrees
128 public final static double OFFSET
= -135.0; // in degrees
129 public static final double ZERO_ANGLE
= 0;
132 public static class DefenseArm
{
133 // Potentiometer related ports
134 public static final int ARM_CHANNEL
= 0;
135 public static final int ARM_PORT
= 0;
136 public static final int HAND_PORT
= 1;
137 public static final int HAND_CHANNEL
= 1;
138 public final static double FULL_RANGE
= 270.0; // in degrees
139 public final static double OFFSET
= -135.0; // in degrees
140 public final static double[] armPotValue
= { 0.0, 45.0, 90.0 }; // 3
142 public final static double ARM_LENGTH
= 0; // TODO: find actual length
143 public final static double HAND_LENGTH
= 0; // TODO: find actual length
144 public final static double ARM_MOUNTED_HEIGHT
= 0; // TODO: find actual
148 public enum Direction
{
149 UP
, DOWN
, RIGHT
, LEFT
, FORWARD
, BACKWARD
;
152 public enum Defense
{
153 PORTCULLIS
, SALLY_PORT
, ROUGH_TERRAIN
, LOW_BAR
, CHEVAL_DE_FRISE
, DRAWBRIDGE
, MOAT
, ROCK_WALL
, RAMPART
;