Add rudimentary auton strategies based on timing

[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 2c7971dc262428c1f28bb8bf1e79d92f1397703e..e5c4c4e78d82b1d446dbd72b3ef42f860702a152 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -110,6 +110,27 @@ public class Constants {
     public static final double OUTPUT_SPEED = -0.7;
   }
 
+  public static class Auton {
+    // Defense crossing speeds from -1 to 1
+    public static final double DEFAULT_SPEED = 0.6;
+    public static final double MOAT_SPEED = 0.6;
+    public static final double ROCK_WALL_SPEED = 0.8;
+    public static final double ROUGH_TERRAIN_SPEED = 0.6;
+    public static final double RAMPART_SPEED = 0.6;
+    public static final double LOW_BAR_SPEED = 0.6;
+
+    // Defense crossing times in seconds
+    public static final double DEFAULT_TIME = 5.0;
+    public static final double MOAT_TIME = 5.0;
+    public static final double ROCK_WALL_TIME = 5.0;
+    public static final double ROUGH_TERRAIN_TIME = 5.0;
+    public static final double RAMPART_TIME = 5.0;
+    public static final double LOW_BAR_TIME = 5.0;
+
+    // Time to wait before shooting in seconds
+    public static final double WAIT_TIME = 1.0;
+  }
+
   public enum Defense {
     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHIVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
   }