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
*/
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;
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;
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
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;
}
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 {
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 {
// height
}
+ public static class Auton {
+ /*
+ * Distance dead reckoning constants
+ */
+ public static final double POS1_DIST1 = 109;
+ public static final double POS1_TURN1 = 60;
+ public static final double POS1_DIST2 = 0;
+
+ // constants for position 2
+ public static final double POS2_DIST1 = 140;
+ public static final double POS2_TURN1 = 60;
+ public static final double POS2_DIST2 = 0;
+
+ // constants for position 3
+ public static final double POS3_DIST1 = 0;
+ public static final double POS3_TURN1 = 90;
+ public static final double POS3_DIST2 = 35.5;
+ public static final double POS3_TURN2 = -90;
+ public static final double POS3_DIST3 = 0;
+
+ // constants for position 4
+ public static final double POS4_DIST1 = 0;
+ public static final double POS4_TURN1 = -90;
+ public static final double POS4_DIST2 = 18.5;
+ public static final double POS4_TURN2 = 90;
+ public static final double POS4_DIST3 = 0;
+
+ // constants for position 5
+ public static final double POS5_DIST1 = 0;
+ public static final double POS5_TURN1 = -90;
+ public static final double POS5_DIST2 = 72.5;
+ public static final double POS5_TURN2 = 90;
+ public static final double POS5_DIST3 = 0;
+ public static final double DRIVE_MAX_TIMEOUT = 3.0;
+ public static final double TURN_MAX_TIMEOUT = 5.0;
+
+ /*
+ * Time dead Reckoning constants
+ */
+ public static final double POS1_DIST1_TIME = 109;
+ public static final double POS1_DRIVE_MAXSPEED = 0.5;
+ public static final double POS1_TURN1_TIME = 60;
+ public static final double POS1_TURN_MAXSPEED = 0.5;
+ public static final double POS1_DIST2_TIME = 0;
+
+ // constants for position 2
+
+ public static final double POS2_DIST1_TIME = 109;
+ public static final double POS2_DRIVE_MAXSPEED = 0.5;
+ public static final double POS2_TURN1_TIME = 60;
+ public static final double POS2_TURN_MAXSPEED = 0.5;
+ public static final double POS2_DIST2_TIME = 0;
+
+ // constants for position 3
+
+ public static final double POS3_DIST1_TIME = 109;
+ public static final double POS3_DRIVE_MAXSPEED = 0.5;
+ public static final double POS3_TURN1_TIME = 60;
+ public static final double POS3_TURN_MAXSPEED = 0.5;
+ public static final double POS3_DIST2_TIME = 0;
+ // constants for position 4
+
+ public static final double POS4_DIST1_TIME = 109;
+ public static final double POS4_DRIVE_MAXSPEED = 0.5;
+ public static final double POS4_TURN1_TIME = 60;
+ public static final double POS4_TURN_MAXSPEED = 0.5;
+ public static final double POS4_DIST2_TIME = 0;
+ // constants for position 5
+
+ public static final double POS5_DIST1_TIME = 109;
+ public static final double POS5_DRIVE_MAXSPEED = 0.5;
+ 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 {
UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
}