Prepare for intake arm test

[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 4810e4b92c8abe1e748705f1d487854f821ff610..82e968794fd286fb7a9ec59b3d98d453c3346022 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -27,16 +27,24 @@ 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 SPIN1_PORT = 4;
-    public final static int SPIN2_PORT = 5;
+    public final static int LEFT_JOYSTICK_TRIGGER_PORT = 1;
+    public final static int LEFT_JOYSTICK_TOP_LEFT_BUTTON = 4;
+    public final static int LEFT_JOYSTICK_TOP_RIGHT_BUTTON = 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 LEFT_JOYSTICK_BOTTOM_BACK_LEFT_BUTTON = 8;
+    public final static int LEFT_JOYSTICK_BOTTOM_BACK_RIGHT_BUTTON = 9;
+    public final static int LEFT_JOYSTICK_BOTTOM_LEFT_FORWARD_BUTTON = 6;
+    public final static int LEFT_JOYSTICK_BOTTOM_LEFT_BACK_BUTTON = 7;
+    public final static int LEFT_JOYSTICK_BOTTOM_RIGHT_FORWARD_BUTTON = 11;
+    public final static int LEFT_JOYSTICK_BOTTOM_RIGHT_BACK_BUTTON = 10;
+
+    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;
 
   }
 
@@ -53,16 +61,21 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 9;
     public final static int ENCODER_RIGHT_B = 8;
 
-    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
-        / 256;
+    public final static int FORWARD_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 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 = 6, LEFT_REVERSE = 5,
-        RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
+
+    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
@@ -95,17 +108,17 @@ public class Constants {
   }
 
   public static class Shooter {
-    public static final int PORT = 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 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;
@@ -113,8 +126,8 @@ public class Constants {
 
     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;
 
@@ -125,14 +138,16 @@ public class Constants {
 
   public static class IntakeArm {
     public static final int ROLLER_PORT = 0;
-    public static final int ARM_PORT = 1;
+    public static final int LEFT_ARM_PORT = 1;
+    public static final int RIGHT_ARM_PORT = 1;
     public static final int POT_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 final double ZERO_ANGLE = 0;
-    public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
+    public static final double DEFAULT_INTAKE_ARM_SPEED = 0.1;
+    public static final double STOP_INTAKE_ARM_SPEED = 0.0;
   }
 
   public static class DefenseArm {