add constants same format as meryem did to constants and also add time dead reckoning

[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 2a11d35971ea8f7d5315e35058409ee7194e5bd9..2d3cd43d6212cd6aab39d692699d78db05cf2646 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -56,13 +56,13 @@ public class Constants {
     public final static int FORWARD_CHANNEL = 0;
     public final static int REVERSE_CHANNEL = 0;
 
-    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 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;
@@ -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 {
@@ -86,9 +87,12 @@ 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 SECONDS_TO_SCALE = 0;
+
     public static boolean SCALING = false;
 
   }
@@ -108,8 +112,10 @@ public class Constants {
     public static final int HOOD_FORWARD = 2;
     public static final int HOOD_REVERSE = 3;
 
-    public static final Value open = Value.kForward;
-    public static final Value closed = Value.kReverse;
+    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;
 
@@ -120,6 +126,25 @@ public class Constants {
 
   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 {
@@ -141,6 +166,7 @@ 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
@@ -149,6 +175,82 @@ public class Constants {
     // 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;
   }