Recode everything for new robot

[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 e57bd7719a9622b45957feda2a79020a4d475189..f57595edcb7c74fa193c3f769e23f20663981935 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -18,26 +18,11 @@ public class Constants {
     public final static int LEFT_STICK_PORT = 0;
     public final static int RIGHT_STICK_PORT = 1;
 
-    public final static int PASS_PORTCULLIS_PORT = 0;
-    public final static int PASS_CHEVAL_DE_FRISE_PORT = 0;
-    public final static int PASS_DRAWBRIDGE_PORT = 0;
-    public final static int PASS_SALLYPORT_PORT = 0;
-
-    public final static int ARCADE_INTAKEARM_LEVEL_ONE_PORT = 0;
-    public final static int ARCADE_INTAKEARM_LEVEL_TWO_PORT = 0;
-    public final static int ARCADE_INTAKEARM_LEVEL_THREE_PORT = 0;
-    public final static int ARCADE_INTAKEARM_LEVEL_FOUR_PORT = 0;
-
-    public final static int LEFT_JOYSTICK_TRIGGER_PORT = 0;
-    public final static int SPIN1_PORT = 4;
-    public final static int SPIN2_PORT = 5;
-    public final static int LEFT_JOYSTICK_TOP_CENTER_PORT = 3;
-    public final static int LEFT_JOYSTICK_TOP_LOW_PORT = 2;
-
-    public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 0;
-    public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
+    public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1;
 
-    public final static int TOGGLE_SCALING_PORT = 0;
+    public final static int RIGHT_JOYSTICK_TRIGGER_PORT = 1;
+    public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
+    public final static int RIGHT_JOYSTICK_SHOOT_PORT = 3;
 
   }
 
@@ -51,19 +36,21 @@ public class Constants {
     // Encoder related ports
     public final static int ENCODER_LEFT_A = 0;
     public final static int ENCODER_LEFT_B = 1;
-    public final static int ENCODER_RIGHT_A = 9;
-    public final static int ENCODER_RIGHT_B = 8;
+    public final static int ENCODER_RIGHT_A = 3;
+    public final static int ENCODER_RIGHT_B = 4;
+
+    public static final int LEFT_MODULE = PCM_MODULE_B;
+    public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5;
+    public static final int RIGHT_MODULE = PCM_MODULE_B;
+    public static final int RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
 
-    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;
     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 = 6, LEFT_REVERSE = 5,
-        RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
     public static double time = 0;
 
     // Gearing constants
@@ -96,12 +83,12 @@ public class Constants {
   }
 
   public static class Shooter {
-    public static final int CATAPULT1_MODULE = PCM_MODULE_A;
+    public static final int CATAPULT1_MODULE = PCM_MODULE_B;
     public static final int CATAPULT1_FORWARD = 0;
-    public static final int CATAPULT1_REVERSE = 1;
+    public static final int CATAPULT1_REVERSE = 6;
     public static final int CATAPULT2_MODULE = PCM_MODULE_B;
-    public static final int CATAPULT2_FORWARD = 2;
-    public static final int CATAPULT2_REVERSE = 3;// TODO Determine actual
+    public static final int CATAPULT2_FORWARD = 1;
+    public static final int CATAPULT2_REVERSE = 7;// TODO Determine actual
                                                   // shooter ports
 
     public static final Value shoot = Value.kForward;
@@ -110,7 +97,7 @@ public class Constants {
   }
 
   public static class IntakeArm {
-    public static final int ROLLER_PORT = 0;
+    public static final int ROLLER_PORT = 3;
 
     // for pistons
     public static final int LEFT_FORWARD = 0;