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
   5 /**
   6  * The Constants stores constant values for all subsystems. This includes the
   7  * port values for motors and sensors, as well as important operational
   8  * constants for subsystems such as max and min values.
   9  */
  10
  11 public class Constants {
  12         public static class OI {
  13                 // Computer Ports
  14                 public final static int LEFT_STICK_PORT = 0;
  15                 public final static int RIGHT_STICK_PORT = 1;
  16                 // Ports on the Joystick
  17                 public final static int TRIGGER_PORT = 1;
  18                 public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
  19                 public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
  20                 public final static int SHOOT_PORT = 4;
  21                 public final static int LOG_PORT = 5;
  22         }
  23
  24         public static class DriveTrain {
  25                 // Drivetrain Motor Related Ports
  26                 public static final int FRONT_LEFT = 0;
  27                 public static final int FRONT_RIGHT = 0;
  28                 public static final int REAR_LEFT = 0;
  29                 public static final int REAR_RIGHT = 0;
  30
  31                 // Encoder related ports
  32                 public final static int ENCODER_LEFT_A = 3;
  33                 public final static int ENCODER_LEFT_B = 4;
  34                 public final static int ENCODER_RIGHT_A = 2;
  35                 public final static int ENCODER_RIGHT_B = 1;
  36
  37                 private final static double WHEEL_DIAMETER = 6.0; // in inches
  38                 private final static double PULSES_PER_ROTATION = 256; // in pulses
  39                 private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
  40                 private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
  41                 public final static double INCHES_PER_PULSE = (((Math.PI) * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
  42                                 / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
  43         }
  44
  45         public static class Scaler {
  46                 // Piston channels
  47                 public final static int FORWARD_CHANNEL = 0;
  48                 public final static int REVERSE_CHANNEL = 0;
  49
  50                 // Winch port
  51                 public final static int WINCH_MOTOR = 0;
  52         }
  53
  54         public static class Shooter {
  55                 public static final int PORT = 0;
  56                 public static final int PUNCH_FORWARD_PORT = 0;
  57                 public static final int PUNCH_REVERSE_PORT = 1;
  58                 public static final int ANGLE_ADJUSTER_PORT = 0;
  59
  60                 public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
  61                 public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
  62
  63                 // Encoder port
  64                 public static final int ENCODER_PORT_A = 0;
  65                 public static final int ENCODER_PORT_B = 0;
  66
  67                 public static enum State {
  68                         RUNNING, STOPPED;
  69                 }
  70         }
  71
  72         public static class IntakeArm {
  73                 public static final int ROLLER_PORT = 0;
  74                 public static final int ARM_PORT = 1;
  75                 public static final int POT_CHANNEL = 0;
  76                 public static final double INTAKE_SPEED = 0.5;
  77                 public static final double OUTPUT_SPEED = -0.5;
  78                 public final static double FULL_RANGE = 270.0; // in degrees
  79                 public final static double OFFSET = -135.0; // in degrees
  80                 public final static double ZERO_ANGLE = 180; // in degrees
  81                 public final static double ARM_LENGTH = 15; // in inches
  82         }
  83
  84         public static class DefenseArm {
  85                 // Potentiometer related ports
  86                 public static final int ARM_CHANNEL = 0;
  87                 public static final int ARM_PORT = 0;
  88                 public static final int HAND_PORT = 1;
  89                 public static final int HAND_CHANNEL = 1;
  90                 public final static double FULL_RANGE = 270.0; // in degrees
  91                 public final static double OFFSET = -135.0; // in degrees
  92                 public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
  93                                                                                                                                                 // level
  94                 public final static double ARM_LENGTH = 0; // TODO: find actual length
  95                 public final static double HAND_LENGTH = 0; // TODO: find actual length
  96                 public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
  97                                                                                                                         // height
  98         }
  99
 100         public enum Defense {
 101                 PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 102         }
 103 }