package org.usfirst.frc.team4320.robot;

/**
 * The RobotMap is a mapping from the ports sensors and actuators are wired into
 * to a variable name. This provides flexibility changing wiring, makes checking
 * the wiring easier and significantly reduces the number of magic numbers
 * floating around.
 */
public class RobotMap {

	// Chassis - CAN
	public static final int REAR_LEFT_DRIVE = 1;
	public static final int FRONT_LEFT_DRIVE = 2;
	public static final int REAR_RIGHT_DRIVE = 3;
	public static final int FRONT_RIGHT_DRIVE = 4;

	// Chassis encoders - DIO
	public static final int LEFT_ENCODER_A = 0;
	public static final int LEFT_ENCODER_B = 1;
	public static final int RIGHT_ENCODER_A = 2;
	public static final int RIGHT_ENCODER_B = 3;

	// Gear Shifters - PCM
	public static final int SHIFTER_LEFT_OPEN = 0;
	public static final int SHIFTER_LEFT_CLOSE = 1;
	public static final int SHIFTER_RIGHT_OPEN = 2;
	public static final int SHIFTER_RIGHT_CLOSE = 3;

	// Climbing motors - PWM
	public static final int CIMBING_MOTORS = 0;

	// Climbing switches - DIO
	public static final int CLIMBER_SWITCH_1 = 4;
	public static final int CLIMBER_SWITCH_2 = 5;

	// Gear catcher - PCM
	public static final int GEAR_CATCHER_OPEN = 4;
	public static final int GEAR_CATCHER_CLOSE = 5;

	// Gear lifter - PCM
	public static final int GEAR_LIFTER_OPEN = 6;
	public static final int GEAR_LIFTER_CLOSE = 7;

	// LED Control - Relay
	public static final int LED_SPIKE = 0;

	// OI
	public static final int DRIVE_STICK = 1;
	public static final int XBOX_STICK = 2;

	// Misc
	public static final double WHEEL_DIAMETER = 6 * 2.54;
	public static final double WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER * Math.PI;
	public static final double LOW_SHIFTER_RATIO = 6.601;
	public static final double HIGH_SHIFTER_RATIO = 14.999;
	public static final double SHIFTER_ENCODER_RATIO = 3;
	public static final double ENCODER_STEPS_PER_REVOLUTION = 256;
	public static final double LOW_RATIO_DISTANCE_PER_PULSE = WHEEL_CIRCUMFERENCE*LOW_SHIFTER_RATIO*SHIFTER_ENCODER_RATIO/ENCODER_STEPS_PER_REVOLUTION;
	public static final double HIGH_RATIO_DISTANCE_PER_PULSE = WHEEL_CIRCUMFERENCE*HIGH_SHIFTER_RATIO*SHIFTER_ENCODER_RATIO/ENCODER_STEPS_PER_REVOLUTION;
}