make extend and retract intake arm piston methods and a command

[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 4810e4b92c8abe1e748705f1d487854f821ff610..e57bd7719a9622b45957feda2a79020a4d475189 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;
@@ -95,44 +96,35 @@ public class Constants {
   }
 
   public static class Shooter {
-    public static final int PORT = 0;
-    public static final int PUNCH_FORWARD = 5;
-    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;
+    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
+  }
 
-    // Encoder port
-    public static final int ENCODER_PORT_A = 0;
-    public static final int ENCODER_PORT_B = 0;
-    public static final int RIGHT_HOOD_FORWARD = 2;
-    public static final int RIGHT_HOOD_REVERSE = 4;
-    public static final int LEFT_HOOD_FORWARD = 4;
-    public static final int LEFT_HOOD_REVERSE = 2;
+  public static class IntakeArm {
+    public static final int ROLLER_PORT = 0;
 
-    public static final double DEFAULT_SHOOTER_SPEED = 0.5;
+    // for pistons
+    public static final int LEFT_FORWARD = 0;
+    public static final int LEFT_REVERSE = 1;
 
-    public static final Value open = Value.kReverse;
-    public static final Value closed = Value.kForward;
+    public static final int RIGHT_FORWARD = 2;
+    public static final int RIGHT_REVERSE = 3;
 
-    public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
+    public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+    public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
 
-    public static enum State {
-      RUNNING, STOPPED;
-    }
-  }
-
-  public static class IntakeArm {
-    public static final int ROLLER_PORT = 0;
-    public static final int ARM_PORT = 1;
-    public static final int POT_CHANNEL = 0;
+    // for roller
     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 final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
   }
 
   public static class DefenseArm {