public static class DriveTrain {
// Drivetrain Motor Related Ports
public static final int FRONT_LEFT = 1;
- public static final int FRONT_RIGHT = 4;
+ public static final int FRONT_RIGHT = 6;
public static final int REAR_LEFT = 2;
- public static final int REAR_RIGHT = 3;
+ public static final int REAR_RIGHT = 5;
// Encoder related ports
public final static int ENCODER_LEFT_A = 0;
public final static int ENCODER_RIGHT_A = 9;
public final static int ENCODER_RIGHT_B = 8;
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 0;
-
public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
/ 256;
public static double encoderTolerance = 8.0, gyroTolerance = 5.0;
public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
- public static final int LEFT_FORWARD = 0, LEFT_REVERSE = 1,
- RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
+ public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5,
+ RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
public static double time = 0;
// Gearing constants
public static class Scaler {
// Piston channels
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 1;
+ public final static int FORWARD_CHANNEL = 6;
+ public final static int REVERSE_CHANNEL = 0;
// Winch port
public final static int WINCH_MOTOR = 0;
public static class Shooter {
public static final int PORT = 0;
- public static final int PUNCH_FORWARD = 0;
+ public static final int PUNCH_FORWARD = 5;
public static final int PUNCH_REVERSE = 1;
public static final int ANGLE_ADJUSTER_PORT = 0;
// Encoder port
public static final int ENCODER_PORT_A = 0;
public static final int ENCODER_PORT_B = 0;
- public static final int HOOD_FORWARD = 2;
- public static final int HOOD_REVERSE = 3;
+ public static final int RIGHT_HOOD_FORWARD = 2;
+ public static final int RIGHT_HOOD_REVERSE = 4;
+ public static final int LEFT_HOOD_FORWARD = 4;
+ public static final int LEFT_HOOD_REVERSE = 2;
public static final double DEFAULT_SHOOTER_SPEED = 0.5;