Fix ports and unusuable code to make shooter test work

[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 881b07d68c5e43158e75766278ed33f18f93a080..520959a9de46a7c37728923b06244a7f21491abe 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -27,25 +27,26 @@ public class Constants {
     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;
@@ -54,18 +55,20 @@ public class Constants {
     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
@@ -79,8 +82,8 @@ public class 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;
@@ -98,24 +101,26 @@ public class Constants {
   }
 
   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;