add dead reckoning time, spd, distance to pass defense commands and constants

[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 df64a8157f983c29d9c6d3d46e62047895906256..287344aff27229a8d681838fb4e5e77dbcb59e42 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -74,6 +74,7 @@ public class Constants {
 
     public static boolean inverted = false;
 
+    public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
   }
 
   public static class Scaler {
@@ -86,11 +87,11 @@ public class Constants {
 
     // 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 WINCH_TIMEOUT = 0;
+    public final static int SECONDS_TO_SCALE = 0;
 
     public static boolean SCALING = false;
 
@@ -123,6 +124,25 @@ public class Constants {
 
   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 {
@@ -144,6 +164,7 @@ public class Constants {
     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