Add pid subsystem

[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 6e3f6ee41cb21da133f94622e040b7306a7a3d83..8f121992ae3b606a0566545abd8730ba9a9b28b3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -23,16 +23,26 @@ public class Constants {
 
   public static class DriveTrain {
     // Drivetrain Motor Related Ports
-    public static final int FRONT_LEFT = 0;
-    public static final int FRONT_RIGHT = 0;
-    public static final int REAR_LEFT = 0;
-    public static final int REAR_RIGHT = 0;
+    public static final int FRONT_LEFT = 1;
+    public static final int FRONT_RIGHT = 4;
+    public static final int REAR_LEFT = 2;
+    public static final int REAR_RIGHT = 3;
 
     // Encoder related ports
-    public final static int ENCODER_LEFT_A = 3;
-    public final static int ENCODER_LEFT_B = 4;
-    public final static int ENCODER_RIGHT_A = 2;
-    public final static int ENCODER_RIGHT_B = 1;
+    public final static int ENCODER_LEFT_A = 0;
+    public final static int ENCODER_LEFT_B = 1;
+    public final static int ENCODER_RIGHT_A = 9;
+    public final static int ENCODER_RIGHT_B = 8;
+
+    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 static final double INCHES_PER_PULSE =
+        ((3.66 / 5.14) * 6 * Math.PI) / 256;
+
+    public static final int MANUAL_MODE = 1, ENCODER_MODE = 2, GYRO_MODE = 3;
+    public static double time = 0;
   }
 
   public static class Scaler {
@@ -42,6 +52,7 @@ public class Constants {
 
     // Winch port
     public final static int WINCH_MOTOR = 0;
+
   }
 
   public static class Shooter {
@@ -64,12 +75,13 @@ public class Constants {
 
   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 int 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 class DefenseArm {
@@ -80,7 +92,12 @@ public class Constants {
     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 final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
+    // level
+    public final static double ARM_LENGTH = 0; // TODO: find actual length
+    public final static double HAND_LENGTH = 0; // TODO: find actual length
+    public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
+    // height
   }
 
   public enum Defense {