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 static class OI {
  14     // Computer Ports
  15     public final static int LEFT_STICK_PORT = 0;
  16     public final static int RIGHT_STICK_PORT = 1;
  17
  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;
  22
  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;
  27
  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;
  33
  34     public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
  35     public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
  36
  37     public final static int TOGGLE_SCALING_PORT = 0;
  38
  39   }
  40
  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;
  47
  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;
  53
  54     public final static int FORWARD_CHANNEL = 0;
  55     public final static int REVERSE_CHANNEL = 0;
  56
  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)
  62         / 256;
  63
  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;
  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   }
  76
  77   public static class Scaler {
  78     // Piston channels
  79     public final static int FORWARD_CHANNEL = 0;
  80     public final static int REVERSE_CHANNEL = 1;
  81
  82     // Winch port
  83     public final static int WINCH_MOTOR = 0;
  84
  85     // Winch speeds
  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;
  89
  90     public static boolean SCALING = false;
  91
  92   }
  93
  94   public static class Shooter {
  95     public static final int PORT = 0;
  96     public static final int PUNCH_FORWARD_PORT = 0;
  97     public static final int PUNCH_REVERSE_PORT = 1;
  98     public static final int ANGLE_ADJUSTER_PORT = 0;
  99
 100     public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
 101     public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
 102
 103     // Encoder port
 104     public static final int ENCODER_PORT_A = 0;
 105     public static final int ENCODER_PORT_B = 0;
 106
 107     public static enum State {
 108       RUNNING, STOPPED;
 109     }
 110   }
 111
 112   public static class DeadReckoning {
 113     public static final double DEFAULT_SPEED = 0.5;
 114   }
 115
 116   public static class IntakeArm {
 117     public static final int ROLLER_PORT = 0;
 118     public static final int ARM_PORT = 1;
 119     public static final int POT_CHANNEL = 0;
 120     public static final double INTAKE_SPEED = 0.5;
 121     public static final double OUTPUT_SPEED = -0.5;
 122     public final static double FULL_RANGE = 270.0; // in degrees
 123     public final static double OFFSET = -135.0; // in degrees
 124     public static final double ZERO_ANGLE = 0;
 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     public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
 136     // level
 137     public final static double ARM_LENGTH = 0; // TODO: find actual length
 138     public final static double HAND_LENGTH = 0; // TODO: find actual length
 139     public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
 140     // height
 141   }
 142
 143   public enum Direction {
 144     UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
 145   }
 146
 147   public enum Defense {
 148     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
 149   }
 150 }