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delete anything to do with pots and motors in IntakeArm and Constants, add the left...
[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 d34a08e87e56fb457aa2544f9cf0bf3d420b82da..e7efadae482726dc272275266dec116ad977a629 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/
src/org/usfirst/frc/team3501/robot/Constants.java
@@
-54,7
+54,8
@@
public class Constants {
public final static int ENCODER_RIGHT_A = 9;
public final static int ENCODER_RIGHT_B = 8;
public final static int ENCODER_RIGHT_A = 9;
public final static int ENCODER_RIGHT_B = 8;
- 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 kp = 0.013, ki = 0.000015, kd = -0.002;
public static double gp = 0.018, gi = 0.000015, gd = 0;
@@
-110,14
+111,17
@@
public class Constants {
public static class IntakeArm {
public static final int ROLLER_PORT = 0;
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 pistons
+ public static final int LEFT_FORWARD = 0;
+ public static final int LEFT_REVERSE = 1;
+
+ public static final int RIGHT_FORWARD = 2;
+ public static final int RIGHT_REVERSE = 3;
+
+ // for roller
public static final double INTAKE_SPEED = 0.5;
public static final double OUTPUT_SPEED = -0.5;
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 {
}
public static class DefenseArm {