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 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 {