import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.I2C.Port;
/**
* The Constants stores constant values for all subsystems. This includes the
public static boolean inverted = false;
+ public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
}
public static class Scaler {
// Winch speeds
public final static double WINCH_STOP_SPEED = 0.0;
- public final static double WINCH_IN_SPEED = 0;
+ public final static double SCALE_SPEED = 0;
public final static double SECONDS_TO_CLAMP = 2.0;
+ // Winch timeout
+ public final static int SECONDS_TO_SCALE = 0;
+
public static boolean SCALING = false;
}
public static final Value open = Value.kForward;
public static final Value closed = Value.kReverse;
+ public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
+
public static enum State {
RUNNING, STOPPED;
}
public static class DeadReckoning {
public static final double DEFAULT_SPEED = 0.5;
+ public static boolean isDeadReckoning;
+
+ // dead reckoning time and speed constants for driving through defenses
+ public static double passRockWallTime = 0;
+ public static double passRockWallSpeed = 0;
+ public static double passRockWallDistance = 0;
+ public static double passLowBarTime = 0;
+ public static double passLowBarSpeed = 0;
+ public static double passLowBarDistance = 0;
+ public static double passMoatTime = 0;
+ public static double passMoatSpeed = 0;
+ public static double passMoatDistance = 0;
+ public static double passRampartTime = 0;
+ public static double passRampartSpeed = 0;
+ public static double passRampartDistance = 0;
+ public static double passRoughTerrainTime = 0;
+ public static double passRoughTerrainSpeed = 0;
+ public static double passRoughTerrainDistance = 0;
+
}
public static class IntakeArm {
public static final int HAND_CHANNEL = 1;
public final static double FULL_RANGE = 270.0; // in degrees
public final static double OFFSET = -135.0; // in degrees
+
public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
// level
public final static double ARM_LENGTH = 0; // TODO: find actual length