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 862459d6fcfdf411ac52cea1a5514de277d2ba59..2d3cd43d6212cd6aab39d692699d78db05cf2646 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -175,6 +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;
   }