package org.usfirst.frc.team3501.robot;
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 class Constants {
- public static class OI {
- // Computer Ports
- public final static int LEFT_STICK_PORT = 0;
- public final static int RIGHT_STICK_PORT = 1;
- // Ports on the Joystick
- public final static int TRIGGER_PORT = 1;
- public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
- public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
- public final static int SHOOT_PORT = 4;
- public final static int LOG_PORT = 5;
- }
-
- public static class DriveTrain {
- // Drivetrain Motor Related Ports
- public static final int FRONT_LEFT = 0;
- public static final int FRONT_RIGHT = 0;
- public static final int REAR_LEFT = 0;
- public static final int REAR_RIGHT = 0;
-
- // Encoder related ports
- public final static int ENCODER_LEFT_A = 3;
- public final static int ENCODER_LEFT_B = 4;
- public final static int ENCODER_RIGHT_A = 2;
- public final static int ENCODER_RIGHT_B = 1;
-
- private final static double WHEEL_DIAMETER = 6.0; // in inches
- private final static double PULSES_PER_ROTATION = 256; // in pulses
- private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
- private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
- public final static double INCHES_PER_PULSE = (((Math.PI) * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
- / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
- }
-
- public static class Scaler {
- // Piston channels
- public final static int FORWARD_CHANNEL = 0;
- 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_PORT = 0;
- public static final int PUNCH_REVERSE_PORT = 1;
- public static final int ANGLE_ADJUSTER_PORT = 0;
-
- public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
- public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
-
- // Encoder port
- public static final int ENCODER_PORT_A = 0;
- public static final int ENCODER_PORT_B = 0;
-
- public static enum State {
- RUNNING, STOPPED;
- }
- }
-
- 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;
- 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 final static double ZERO_ANGLE = 180; // in degrees
- public final static double ARM_LENGTH = 15; // in inches
- }
-
- public static class DefenseArm {
- // Potentiometer related ports
- public static final int ARM_CHANNEL = 0;
- public static final int ARM_PORT = 0;
- public static final int HAND_PORT = 1;
- 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
- public final static double HAND_LENGTH = 0; // TODO: find actual length
- public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
- // height
- }
-
- public enum Defense {
- PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
- }
+ public static class OI {
+ // Computer Ports
+ 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 TOGGLE_SCALING_PORT = 0;
+
+ }
+
+ 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 REAR_LEFT = 2;
+ public static final int REAR_RIGHT = 3;
+
+ // 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 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 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 = 0, LEFT_REVERSE = 1,
+ RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
+ public static double time = 0;
+
+ // Gearing constants
+ public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
+ public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
+
+ public static boolean inverted = false;
+
+ public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
+ }
+
+ public static class Scaler {
+ // Piston channels
+ public final static int FORWARD_CHANNEL = 0;
+ public final static int REVERSE_CHANNEL = 1;
+
+ // Winch port
+ public final static int WINCH_MOTOR = 0;
+
+ // Winch speeds
+ public final static double WINCH_STOP_SPEED = 0.0;
+ 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 class Shooter {
+ public static final int PORT = 0;
+ public static final int PUNCH_FORWARD = 0;
+ public static final int PUNCH_REVERSE = 1;
+ public static final int ANGLE_ADJUSTER_PORT = 0;
+
+ public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
+ public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
+
+ // 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 double DEFAULT_SHOOTER_SPEED = 0.5;
+
+ public static final Value open = Value.kReverse;
+ public static final Value closed = Value.kForward;
+
+ 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 isUsingTimeToPassDefense = true;
+
+ // 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 ROLLER_PORT = 0;
+ public static final int ARM_PORT = 1;
+ public static final int POT_CHANNEL = 0;
+ 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 class DefenseArm {
+ // Potentiometer related ports
+ public static final int ARM_CHANNEL = 0;
+ public static final int ARM_PORT = 0;
+ public static final int HAND_PORT = 1;
+ 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
+ public final static double HAND_LENGTH = 0; // TODO: find actual length
+ public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
+ // height
+ }
+
+ public static class Auton {
+ /*
+ * Distance dead reckoning constants
+ */
+ public static final double POS1_DIST1 = 109;
+ public static final double POS1_TURN1 = 60;
+ public static final double POS1_DIST2 = 0;
+
+ // constants for position 2
+ public static final double POS2_DIST1 = 140;
+ public static final double POS2_TURN1 = 60;
+ public static final double POS2_DIST2 = 0;
+
+ // constants for position 3
+ public static final double POS3_DIST1 = 0;
+ public static final double POS3_TURN1 = 90;
+ public static final double POS3_DIST2 = 35.5;
+ public static final double POS3_TURN2 = -90;
+ public static final double POS3_DIST3 = 0;
+
+ // constants for position 4
+ public static final double POS4_DIST1 = 0;
+ public static final double POS4_TURN1 = -90;
+ public static final double POS4_DIST2 = 18.5;
+ public static final double POS4_TURN2 = 90;
+ public static final double POS4_DIST3 = 0;
+
+ // constants for position 5
+ public static final double POS5_DIST1 = 0;
+ public static final double POS5_TURN1 = -90;
+ public static final double POS5_DIST2 = 72.5;
+ public static final double POS5_TURN2 = 90;
+ public static final double POS5_DIST3 = 0;
+ public static final double DRIVE_MAX_TIMEOUT = 3.0;
+ public static final double TURN_MAX_TIMEOUT = 5.0;
+
+ /*
+ * Time dead Reckoning constants
+ */
+ public static final double POS1_DIST1_TIME = 109;
+ public static final double POS1_DRIVE_MAXSPEED = 0.5;
+ public static final double POS1_TURN1_TIME = 60;
+ public static final double POS1_TURN_MAXSPEED = 0.5;
+ public static final double POS1_DIST2_TIME = 0;
+
+ // constants for position 2
+
+ public static final double POS2_DIST1_TIME = 109;
+ public static final double POS2_DRIVE_MAXSPEED = 0.5;
+ public static final double POS2_TURN1_TIME = 60;
+ public static final double POS2_TURN_MAXSPEED = 0.5;
+ public static final double POS2_DIST2_TIME = 0;
+
+ // constants for position 3
+
+ public static final double POS3_DIST1_TIME = 109;
+ public static final double POS3_DRIVE_MAXSPEED = 0.5;
+ public static final double POS3_TURN1_TIME = 60;
+ public static final double POS3_TURN_MAXSPEED = 0.5;
+ public static final double POS3_DIST2_TIME = 0;
+ // constants for position 4
+
+ public static final double POS4_DIST1_TIME = 109;
+ public static final double POS4_DRIVE_MAXSPEED = 0.5;
+ public static final double POS4_TURN1_TIME = 60;
+ public static final double POS4_TURN_MAXSPEED = 0.5;
+ public static final double POS4_DIST2_TIME = 0;
+ // constants for position 5
+
+ public static final double POS5_DIST1_TIME = 109;
+ public static final double POS5_DRIVE_MAXSPEED = 0.5;
+ public static final double POS5_TURN1_TIME = 60;
+ public static final double POS5_TURN_MAXSPEED = 0.5;
+ public static final double POS5_DIST2_TIME = 0;
+ }
+
+ public enum Direction {
+ UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
+ }
+
+ public enum Defense {
+ PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
+ }
}
projects / 3501 / stronghold-2016 / blobdiff