Delete PID stuff that somehow got into master

[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 c01441f340a181ececf104228dec536c0ad9ce78..6f2b3cd0b823d403dff401a1ec213d3994524b76 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -1,5 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+
 /**
  * The Constants stores constant values for all subsystems. This includes the
  * port values for motors and sensors, as well as important operational
@@ -31,6 +33,14 @@ public class Constants {
     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 {
@@ -44,13 +54,44 @@ public class Constants {
 
   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 enum Direction {
-    LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+  public static class IntakeArm {
+    public static final int ROLLER_PORT = 0;
+    public static final int INTAKE_PORT = 1;
+    public static final int INTAKE_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 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 enum Defense {
+    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
   }
 }