package edu.stuy;

/**
 * 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 interface RobotMap {
    // For example to map the left and right motors, you could define the
    // following variables to use with your drivetrain subsystem.
    // public static int leftMotor = 1;
    // public static int rightMotor = 2;

    // If you are using multiple modules, make sure to define both the port
    // number and the module. For example you with a rangefinder:
    // public static int rangefinderPort = 1;
    // public static int rangefinderModule = 1;

    // CAN device IDs
    int DRIVE_FRONT_LEFT_ID = 1;
    int DRIVE_REAR_LEFT_ID = 2;
    int DRIVE_FRONT_RIGHT_ID = 3;
    int DRIVE_REAR_RIGHT_ID = 4;

    int ACQUIRER_LEFT_ROLLER_ID = 5;
    int ACQUIRER_RIGHT_ROLLER_ID = 6;

    int LIFT_MOTOR_ID = 7;

    // Solenoid Ports:
    int SOLENOID_ARMS_SHORT_IN = 0;
    int SOLENOID_ARMS_SHORT_OUT = 1;
    int SOLENOID_ARMS_LONG_IN = 2;
    int SOLENOID_ARMS_LONG_OUT = 3;

    // Joystick ports
    int DRIVER_PAD_PORT = 0;
    int OPERATOR_PAD_PORT = 1;

    // Drivetrain channels:
    int DRIVETRAIN_ENCODER_CHANNEL_A = 0;
    int DRIVETRAIN_ENCODER_CHANNEL_B = 1;
    int DRIVETRAIN_GYRO_CHANNEL = 2;

    // Lift limit switch channels:
    int LIFT_LOWER_LIMIT_SWITCH_CHANNEL = 3;
    int LIFT_UPPER_LIMIT_SWITCH_CHANNEL = 4;

    // Auton:
    int DRIVETRAIN_ROTATE_THRESHOLD = 1;
    double AUTON_ONE_SET_DRIVE_INCHES_FIRST = 25.0;
    double AUTON_ONE_SET_ROTATE_DEGREES = 90.0;
    double AUTON_ONE_SET_DRIVE_INCHES_SECOND = 112.0;

    // Tote Dimensions
    double TOTE_WIDTH = 16.9;
    double TOTE_LENGTH = 26.9;

    // Robot Dimensions
    double ROBOT_LENGTH = 28.0;

    // Auton Mobility DriveForward
    double AUTON_DRIVE_FORWARD_FIELD_SIDE = 112.0;
    double AUTON_DRIVE_FORWARD_DRIVER_SIDE = AUTON_DRIVE_FORWARD_FIELD_SIDE
            + TOTE_WIDTH + ROBOT_LENGTH;
    String INCHES_LABEL = "If you are using Setting 4, then input number of inches";

}

@@ -1394,41 +1394,8 @@
     
-int DRIVETRAIN_GYRO_CHANNEL = 2;%0A
 %0A   
@@ -1468,17 +1468,17 @@
 ANNEL = 
-3
+2
 ;%0A    in
@@ -1513,19 +1513,89 @@
 ANNEL = 
-4
+3
 ;%0A
+    %0A    // Analog Channels:%0A    int DRIVETRAIN_GYRO_CHANNEL = 0;%0A    
 %0A    // 

Put Gyro in Analog Input channel 0