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 double time = 0;
+ public static double encoderTolerance = 8.0;
// Gearing constants
public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
- public static boolean inverted = false;
-
public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
}
public static final double INTAKE_SPEED = 0.5;
public static final double OUTPUT_SPEED = -0.5;
}
-
- public static class DefenseArm {
- // Potentiometer related ports
- public static final int ARM_CHANNEL = 0;
- public static final int ARM_PORT = 0;
- public static final int HAND_PORT = 1;
- public static final int HAND_CHANNEL = 1;
- public final static double FULL_RANGE = 270.0; // in degrees
- public final static double OFFSET = -135.0; // in degrees
-
- public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
- // level
- public final static double ARM_LENGTH = 0; // TODO: find actual length
- public final static double HAND_LENGTH = 0; // TODO: find actual length
- public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
- // 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;
- }
-
- public enum Defense {
- PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
- }
}