Correct ports

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 881b07d68c5e43158e75766278ed33f18f93a080..4810e4b92c8abe1e748705f1d487854f821ff610 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -43,9 +43,9 @@ public class Constants {
   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;
@@ -53,9 +53,6 @@ public class Constants {
     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;
 
@@ -64,8 +61,8 @@ public class Constants {
     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
@@ -79,8 +76,8 @@ public class 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;
@@ -99,7 +96,7 @@ public class Constants {
 
   public static class Shooter {
     public static final int PORT = 0;
-    public static final int PUNCH_FORWARD = 0;
+    public static final int PUNCH_FORWARD = 5;
     public static final int PUNCH_REVERSE = 1;
     public static final int ANGLE_ADJUSTER_PORT = 0;
 
@@ -109,8 +106,10 @@ public class Constants {
     // 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 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 final double DEFAULT_SHOOTER_SPEED = 0.5;
 

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 203078ccfd7f88d9103b8a6ddf4ac529b6212c4c..5fa529335b57c5315c3000e9ffbc89d734ae17b3 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -62,9 +62,10 @@ public class DriveTrain extends PIDSubsystem {
     this.disable();
     gyro.start();
 
-    leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.LEFT_FORWARD,
+    leftGearPiston = new DoubleSolenoid(10, Constants.DriveTrain.LEFT_FORWARD,
         Constants.DriveTrain.LEFT_REVERSE);
-    rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.RIGHT_FORWARD,
+    rightGearPiston = new DoubleSolenoid(10,
+        Constants.DriveTrain.RIGHT_FORWARD,
         Constants.DriveTrain.RIGHT_REVERSE);
     Constants.DriveTrain.inverted = false;
   }
@@ -196,10 +197,10 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * Method is a required method that the PID Subsystem uses to return the
    * calculated PID value to the driver
-   * 
+   *
    * @param Gives the user the output from the PID algorithm that is calculated
    * internally
-   * 
+   *
    * Body: Uses the output, does some filtering and drives the robot
    */
   @Override
@@ -227,7 +228,7 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Checks the drive mode
-   * 
+   *
    * @return the current state of the robot in each state Average distance from
    * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
    */
@@ -259,9 +260,9 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * constrains the distance to within -100 and 100 since we aren't going to
    * drive more than 100 inches
-   * 
+   *
    * Configure Encoder PID
-   * 
+   *
    * Sets the setpoint to the PID subsystem
    */
   public void driveDistance(double dist, double maxTimeOut) {
@@ -301,10 +302,10 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Turning method that should be used repeatedly in a command
-   * 
+   *
    * First constrains the angle to within -360 and 360 since that is as much as
    * we need to turn
-   * 
+   *
    * Configures Gyro PID and sets the setpoint as an angle
    */
   public void turnAngle(double angle) {

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 6e0c7acfb443a9106e46ed27d0c40e985732ebf4..7b6ef174bd3cc046ade23a65c00695c7a99862cd 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -30,11 +30,11 @@ public class Shooter extends Subsystem {
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
-    hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
-        Constants.Shooter.HOOD_REVERSE);
-    hood2 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
-        Constants.Shooter.HOOD_REVERSE);
-    punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
+    hood1 = new DoubleSolenoid(10, Constants.Shooter.RIGHT_HOOD_FORWARD,
+        Constants.Shooter.RIGHT_HOOD_REVERSE); // right
+    hood2 = new DoubleSolenoid(9, Constants.Shooter.LEFT_HOOD_FORWARD,
+        Constants.Shooter.LEFT_HOOD_REVERSE);// left
+    punch = new DoubleSolenoid(9, Constants.Shooter.PUNCH_FORWARD,
         Constants.Shooter.PUNCH_REVERSE);
 
     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,