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;
17 // Ports on the Joystick
18 public final static int TRIGGER_PORT
= 1;
19 public final static int DECREMENT_SHOOTER_SPEED_PORT
= 2;
20 public final static int INCREMENT_SHOOTER_SPEED_PORT
= 3;
21 public final static int SHOOT_PORT
= 4;
22 public final static int LOG_PORT
= 5;
25 public static class DriveTrain
{
26 // Drivetrain Motor Related Ports
27 public static final int FRONT_LEFT
= 1;
28 public static final int FRONT_RIGHT
= 4;
29 public static final int REAR_LEFT
= 2;
30 public static final int REAR_RIGHT
= 3;
32 // Encoder related ports
33 public final static int ENCODER_LEFT_A
= 0;
34 public final static int ENCODER_LEFT_B
= 1;
35 public final static int ENCODER_RIGHT_A
= 9;
36 public final static int ENCODER_RIGHT_B
= 8;
38 public final static int FORWARD_CHANNEL
= 0;
39 public final static int REVERSE_CHANNEL
= 0;
41 private final static double WHEEL_DIAMETER
= 6.0; // in inches
42 private final static double PULSES_PER_ROTATION
= 256; // in pulses
43 private final static double OUTPUT_SPROCKET_DIAMETER
= 2.0; // in inches
44 private final static double WHEEL_SPROCKET_DIAMETER
= 3.5; // in inches
45 public static final double INCHES_PER_PULSE
=
46 ((3.66 / 5.14) * 6 * Math
.PI
) / 256;
48 public static final int MANUAL_MODE
= 1, ENCODER_MODE
= 2, GYRO_MODE
= 3;
49 public static final int LEFT_FORWARD
= 0, LEFT_REVERSE
= 1,
50 RIGHT_FORWARD
= 2, RIGHT_REVERSE
= 3;
51 public static double time
= 0;
54 public static final Value HIGH_GEAR
= DoubleSolenoid
.Value
.kForward
;
55 public static final Value LOW_GEAR
= DoubleSolenoid
.Value
.kReverse
;
59 public static class Scaler
{
61 public final static int FORWARD_CHANNEL
= 0;
62 public final static int REVERSE_CHANNEL
= 0;
65 public final static int WINCH_MOTOR
= 0;
69 public static class Shooter
{
70 public static final int PORT
= 0;
71 public static final int PUNCH_FORWARD_PORT
= 0;
72 public static final int PUNCH_REVERSE_PORT
= 1;
73 public static final int ANGLE_ADJUSTER_PORT
= 0;
75 public static final DoubleSolenoid
.Value punch
= DoubleSolenoid
.Value
.kForward
;
76 public static final DoubleSolenoid
.Value retract
= DoubleSolenoid
.Value
.kReverse
;
79 public static final int ENCODER_PORT_A
= 0;
80 public static final int ENCODER_PORT_B
= 0;
82 public static enum State
{
87 public static class IntakeArm
{
88 public static final int ROLLER_PORT
= 0;
89 public static final int ARM_PORT
= 1;
90 public static final int POT_CHANNEL
= 0;
91 public static final double INTAKE_SPEED
= 0.5;
92 public static final double OUTPUT_SPEED
= -0.5;
93 public final static double FULL_RANGE
= 270.0; // in degrees
94 public final static double OFFSET
= -135.0; // in degrees
95 public static final double ZERO_ANGLE
= 0;
98 public static class DefenseArm
{
99 // Potentiometer related ports
100 public static final int ARM_CHANNEL
= 0;
101 public static final int ARM_PORT
= 0;
102 public static final int HAND_PORT
= 1;
103 public static final int HAND_CHANNEL
= 1;
104 public final static double FULL_RANGE
= 270.0; // in degrees
105 public final static double OFFSET
= -135.0; // in degrees
106 public final static double[] armPotValue
= { 0.0, 45.0, 90.0 }; // 3
108 public final static double ARM_LENGTH
= 0; // TODO: find actual length
109 public final static double HAND_LENGTH
= 0; // TODO: find actual length
110 public final static double ARM_MOUNTED_HEIGHT
= 0; // TODO: find actual
114 public enum Defense
{
115 PORTCULLIS
, SALLY_PORT
, ROUGH_TERRAIN
, LOW_BAR
, CHEVAL_DE_FRISE
, DRAWBRIDGE
, MOAT
, ROCK_WALL
, RAMPART
;