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 {
}
public static class IntakeArm {
- public static final int PORT = 0;
- public static final int CHEVAL_DE_FRISE_HAND_PORT = 1;
-
+ 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 enum Direction {
- LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
+ 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
+ PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
}
}