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 LEFT_JOYSTICK_TRIGGER_PORT = 1;
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_TRIGGER_PORT = 1;
public final static int RIGHT_JOYSTICK_THUMB_PORT = 2;
public final static int TOGGLE_SCALING_PORT = 0;
+ public final static int TOGGLE_COMPRESSOR_PORT = 12;
}
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 FRONT_RIGHT = 6;
public static final int REAR_LEFT = 2;
- public static final int REAR_RIGHT = 3;
+ public static final int REAR_RIGHT = 5;
// Encoder related ports
public final static int ENCODER_LEFT_A = 0;
public final static int ENCODER_RIGHT_B = 8;
public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 0;
+ public final static int REVERSE_CHANNEL = 1;
- public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
- / 256;
+ 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 final int MODULE_A_ID = 9, MODULE_B_ID = 10;
+ public static final int LEFT_FORWARD = 1, LEFT_REVERSE = 5,
+ RIGHT_FORWARD = 0, RIGHT_REVERSE = 6;
+
public static double time = 0;
// Gearing constants
public static class Scaler {
// Piston channels
- public final static int FORWARD_CHANNEL = 0;
- public final static int REVERSE_CHANNEL = 1;
+ public final static int FORWARD_CHANNEL = 6;
+ 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 = 0;
+ public static final int PORT = 4;
+ public static final int PUNCH_FORWARD = 5;
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;
+ public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kReverse;
+ public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kForward;
// 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 int ENCODER_PORT_A = 4;
+ public static final int ENCODER_PORT_B = 5;
+ public static final int RIGHT_HOOD_FORWARD = 2;
+ public static final int RIGHT_HOOD_REVERSE = 4;
+ public static final int LEFT_HOOD_FORWARD = 4;
+ public static final int LEFT_HOOD_REVERSE = 2;
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 Value open = Value.kForward;
+ public static final Value closed = Value.kReverse;
public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
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 final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
}
public static class DefenseArm {
// Passing Defenses Constants
public static final double DEFAULT_SPEED = 0.5;
- public static boolean isUsingTime = true;
+ public static final boolean IS_USING_TIME = 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;
+ // TODO: find the times it takes to pass each defense
+ public static final double PASS_ROCK_WALL_TIME = 0;
+ public static final double PASS_ROCK_WALL_SPEED = 0;
+ public static final double PASS_ROCK_WALL_DIST = 0;
+ public static final double PASS_LOW_BAR_TIME = 0;
+ public static final double PASS_LOW_BAR_SPEED = 0;
+ public static final double PASS_LOW_BAR_DIST = 0;
+ public static final double PASS_MOAT_TIME = 0;
+ public static final double PASS_MOAT_SPEED = 0;
+ public static final double PASS_MOAT_DIST = 0;
+ public static final double PASS_RAMPART_TIME = 0;
+ public static final double PASS_RAMPART_SPEED = 0;
+ public static final double PASS_RAMPART_DIST = 0;
+ public static final double PASS_ROUGH_TERRAIN_TIME = 0;
+ public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
+ public static final double PASS_ROUGH_TERRAIN_DIST = 0;
}
public enum Direction {