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Change shooter to function off of two pistons, remove punch, shooter motors, and...
[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 2d3cd43d6212cd6aab39d692699d78db05cf2646..d34a08e87e56fb457aa2544f9cf0bf3d420b82da 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -2,8 +2,6 @@ package org.usfirst.frc.team3501.robot;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-import edu.wpi.first.wpilibj.I2C;
-import edu.wpi.first.wpilibj.I2C.Port;
 
 /**
  * The Constants stores constant values for all subsystems. This includes the
@@ -12,6 +10,9 @@ import edu.wpi.first.wpilibj.I2C.Port;
  */
 
 public class Constants {
+  public final static int PCM_MODULE_A = 9;
+  public final static int PCM_MODULE_B = 10;
+
   public static class OI {
     // Computer Ports
     public final static int LEFT_STICK_PORT = 0;
@@ -43,9 +44,9 @@ public class Constants {
   public static class DriveTrain {
     // Drivetrain Motor Related Ports
     public static final int FRONT_LEFT = 1;
-    public static final int FRONT_RIGHT = 4;
+    public static final int FRONT_RIGHT = 6;
     public static final int REAR_LEFT = 2;
-    public static final int REAR_RIGHT = 3;
+    public static final int REAR_RIGHT = 5;
 
     // Encoder related ports
     public final static int ENCODER_LEFT_A = 0;
@@ -53,19 +54,15 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 9;
     public final static int ENCODER_RIGHT_B = 8;
 
-    public final static int FORWARD_CHANNEL = 0;
-    public final static int REVERSE_CHANNEL = 0;
-
-    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
-        / 256;
+    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 = 0, LEFT_REVERSE = 1,
-        RIGHT_FORWARD = 2, RIGHT_REVERSE = 3;
+    public static final int LEFT_FORWARD = 6, LEFT_REVERSE = 5,
+        RIGHT_FORWARD = 0, RIGHT_REVERSE = 1;
     public static double time = 0;
 
     // Gearing constants
@@ -79,8 +76,8 @@ public class Constants {
 
   public static class Scaler {
     // Piston channels
-    public final static int FORWARD_CHANNEL = 0;
-    public final static int REVERSE_CHANNEL = 1;
+    public final static int FORWARD_CHANNEL = 6;
+    public final static int REVERSE_CHANNEL = 0;
 
     // Winch port
     public final static int WINCH_MOTOR = 0;
@@ -98,53 +95,17 @@ public class Constants {
   }
 
   public static class Shooter {
-    public static final int PORT = 0;
-    public static final int PUNCH_FORWARD = 0;
-    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;
-
-    // Encoder port
-    public static final int ENCODER_PORT_A = 0;
-    public static final int ENCODER_PORT_B = 0;
-    public static final int HOOD_FORWARD = 2;
-    public static final int HOOD_REVERSE = 3;
-
-    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 Port LIDAR_I2C_PORT = I2C.Port.kMXP;
-
-    public static enum State {
-      RUNNING, STOPPED;
-    }
-  }
-
-  public static class DeadReckoning {
-    public static final double DEFAULT_SPEED = 0.5;
-    public static boolean isUsingTimeToPassDefense = true;
-
-    // dead reckoning time and speed constants for driving through defenses
-    public static double passRockWallTime = 0;
-    public static double passRockWallSpeed = 0;
-    public static double passRockWallDistance = 0;
-    public static double passLowBarTime = 0;
-    public static double passLowBarSpeed = 0;
-    public static double passLowBarDistance = 0;
-    public static double passMoatTime = 0;
-    public static double passMoatSpeed = 0;
-    public static double passMoatDistance = 0;
-    public static double passRampartTime = 0;
-    public static double passRampartSpeed = 0;
-    public static double passRampartDistance = 0;
-    public static double passRoughTerrainTime = 0;
-    public static double passRoughTerrainSpeed = 0;
-    public static double passRoughTerrainDistance = 0;
-
+    public static final int CATAPULT1_MODULE = PCM_MODULE_A;
+    public static final int CATAPULT1_FORWARD = 0;
+    public static final int CATAPULT1_REVERSE = 1;
+    public static final int CATAPULT2_MODULE = PCM_MODULE_B;
+    public static final int CATAPULT2_FORWARD = 2;
+    public static final int CATAPULT2_REVERSE = 3;// TODO Determine actual
+                                                  // shooter ports
+
+    public static final Value shoot = Value.kForward;
+    public static final Value reset = Value.kReverse;
+    public static final double WAIT_TIME = 2.0; // In seconds
   }
 
   public static class IntakeArm {
@@ -156,6 +117,7 @@ public class Constants {
     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 class DefenseArm {
@@ -249,6 +211,29 @@ public class Constants {
     public static final double POS5_TURN1_TIME = 60;
     public static final double POS5_TURN_MAXSPEED = 0.5;
     public static final double POS5_DIST2_TIME = 0;
+
+    // Passing Defenses Constants
+
+    public static final double DEFAULT_SPEED = 0.5;
+    public static final boolean IS_USING_TIME = true;
+
+    // dead reckoning time and speed constants for driving through defenses
+    // TODO: find the times it takes to pass each defense
+    public static final double PASS_ROCK_WALL_TIME = 0;
+    public static final double PASS_ROCK_WALL_SPEED = 0;
+    public static final double PASS_ROCK_WALL_DIST = 0;
+    public static final double PASS_LOW_BAR_TIME = 0;
+    public static final double PASS_LOW_BAR_SPEED = 0;
+    public static final double PASS_LOW_BAR_DIST = 0;
+    public static final double PASS_MOAT_TIME = 0;
+    public static final double PASS_MOAT_SPEED = 0;
+    public static final double PASS_MOAT_DIST = 0;
+    public static final double PASS_RAMPART_TIME = 0;
+    public static final double PASS_RAMPART_SPEED = 0;
+    public static final double PASS_RAMPART_DIST = 0;
+    public static final double PASS_ROUGH_TERRAIN_TIME = 0;
+    public static final double PASS_ROUGH_TERRAIN_SPEED = 0;
+    public static final double PASS_ROUGH_TERRAIN_DIST = 0;
   }
 
   public enum Direction {