delete anything to do with pots and motors in IntakeArm and Constants, add the left...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index d34a08e87e56fb457aa2544f9cf0bf3d420b82da..e7efadae482726dc272275266dec116ad977a629 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -54,7 +54,8 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 9;
     public final static int ENCODER_RIGHT_B = 8;
 
-    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
+    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
+        / 256;
 
     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
     public static double gp = 0.018, gi = 0.000015, gd = 0;
@@ -110,14 +111,17 @@ public class Constants {
 
   public static class IntakeArm {
     public static final int ROLLER_PORT = 0;
-    public static final int ARM_PORT = 1;
-    public static final int POT_CHANNEL = 0;
+
+    // for pistons
+    public static final int LEFT_FORWARD = 0;
+    public static final int LEFT_REVERSE = 1;
+
+    public static final int RIGHT_FORWARD = 2;
+    public static final int RIGHT_REVERSE = 3;
+
+    // for roller
     public static final double INTAKE_SPEED = 0.5;
     public static final double OUTPUT_SPEED = -0.5;
-    public final static double FULL_RANGE = 270.0; // in degrees
-    public final static double OFFSET = -135.0; // in degrees
-    public static final double ZERO_ANGLE = 0;
-    public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
   }
 
   public static class DefenseArm {