From 200caf634c87b7aec67dac297be8073a5acf54c8 Mon Sep 17 00:00:00 2001 From: Kevin Zhang Date: Fri, 12 Feb 2016 21:08:36 -0800 Subject: [PATCH] fix compile errors that somehow got into master --- .../usfirst/frc/team3501/robot/Constants.java | 157 +++++++++--------- src/org/usfirst/frc/team3501/robot/Robot.java | 1 + 2 files changed, 81 insertions(+), 77 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index 79efd230..d17d1da9 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -9,93 +9,96 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; */ public class Constants { - public static class OI { - // Computer Ports - public final static int LEFT_STICK_PORT = 0; - public final static int RIGHT_STICK_PORT = 1; - // Ports on the Joystick - public final static int TRIGGER_PORT = 1; - public final static int DECREMENT_SHOOTER_SPEED_PORT = 2; - public final static int INCREMENT_SHOOTER_SPEED_PORT = 3; - public final static int SHOOT_PORT = 4; - public final static int LOG_PORT = 5; - } + public static class OI { + // Computer Ports + public final static int LEFT_STICK_PORT = 0; + public final static int RIGHT_STICK_PORT = 1; + // Ports on the Joystick + public final static int TRIGGER_PORT = 1; + public final static int DECREMENT_SHOOTER_SPEED_PORT = 2; + public final static int INCREMENT_SHOOTER_SPEED_PORT = 3; + public final static int SHOOT_PORT = 4; + public final static int LOG_PORT = 5; + } - public static class DriveTrain { - // Drivetrain Motor Related Ports - public static final int FRONT_LEFT = 0; - public static final int FRONT_RIGHT = 0; - public static final int REAR_LEFT = 0; - public static final int REAR_RIGHT = 0; + public static class DriveTrain { + // Drivetrain Motor Related Ports + public static final int FRONT_LEFT = 0; + public static final int FRONT_RIGHT = 0; + public static final int REAR_LEFT = 0; + public static final int REAR_RIGHT = 0; - // Encoder related ports - public final static int ENCODER_LEFT_A = 3; - public final static int ENCODER_LEFT_B = 4; - public final static int ENCODER_RIGHT_A = 2; - public final static int ENCODER_RIGHT_B = 1; + // Encoder related ports + public final static int ENCODER_LEFT_A = 3; + public final static int ENCODER_LEFT_B = 4; + public final static int ENCODER_RIGHT_A = 2; + public final static int ENCODER_RIGHT_B = 1; - private final static double WHEEL_DIAMETER = 6.0; // in inches - private final static double PULSES_PER_ROTATION = 256; // in pulses - private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches - private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches - public final static double INCHES_PER_PULSE = (((Math.PI) * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) - / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER; - } + private final static double WHEEL_DIAMETER = 6.0; // in inches + private final static double PULSES_PER_ROTATION = 256; // in pulses + private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches + private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches + public final static double INCHES_PER_PULSE = (((Math.PI) + * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) + / WHEEL_SPROCKET_DIAMETER) + * WHEEL_DIAMETER; + } - public static class Scaler { - // Piston channels - public final static int FORWARD_CHANNEL = 0; - public final static int REVERSE_CHANNEL = 0; + public static class Scaler { + // Piston channels + public final static int FORWARD_CHANNEL = 0; + public final static int REVERSE_CHANNEL = 0; - // Winch port - public final static int WINCH_MOTOR = 0; - } + // Winch port + public final static int WINCH_MOTOR = 0; + } - public static class Shooter { - public static final int PORT = 0; - public static final int PUNCH_FORWARD_PORT = 0; - public static final int PUNCH_REVERSE_PORT = 1; - public static final int ANGLE_ADJUSTER_PORT = 0; + public static class Shooter { + public static final int PORT = 0; + public static final int PUNCH_FORWARD_PORT = 0; + public static final int PUNCH_REVERSE_PORT = 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 DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward; + public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse; - // Encoder port - public static final int ENCODER_PORT_A = 0; - public static final int ENCODER_PORT_B = 0; + // Encoder port + public static final int ENCODER_PORT_A = 0; + public static final int ENCODER_PORT_B = 0; - public static enum State { - RUNNING, STOPPED; - } - } + 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; - 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 class IntakeArm { + public static final int ROLLER_PORT = 0; + public static final int ARM_PORT = 1; + public static final int POT_CHANNEL = 0; + 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 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 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 enum Defense { - PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; - } + public enum Defense { + PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART; + } } diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index ea7910b6..154c5c71 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -18,6 +18,7 @@ public class Robot extends IterativeRobot { public static Shooter shooter; public static Scaler scaler; public static IntakeArm intakeArm; + public static DefenseArm defenseArm; // Sendable Choosers send a drop down menu to the Smart Dashboard. SendableChooser positionChooser; -- 2.30.2