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 final static double INCHES_PER_PULSE = (((Math.PI)
- * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
- / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+ 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 {
public static final int POT_CHANNEL = 0;
public static final double INTAKE_SPEED = 0.5;
public static final double OUTPUT_SPEED = -0.5;
- public static final double UP_SPEED = 0.3;
- public static final double DOWN_SPEED = -0.3;
- public static final double STOP_SPEED = 0.0;
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;