Team708 · sueperg · Jan 30, 2017 · Jan 31, 2017 · Jan 31, 2017 · Jan 31, 2017
diff --git a/.classpath b/.classpath
@@ -6,7 +6,8 @@
 	<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
 	<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
-	<classpathentry kind="var" path="USERLIBS_DIR/CTRLib.jar"/>
-	<classpathentry kind="var" path="USERLIBS_DIR/niVisionWPI.jar"/>
+	<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix-sources.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix.jar" sourcepath="/CTRE_Pheonix.sources"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>
diff --git a/build/jars/CTRLib.jar b/build/jars/CTRLib.jar
diff --git a/build/jars/NetworkTables.jar b/build/jars/NetworkTables.jar
diff --git a/build/jars/WPILib.jar b/build/jars/WPILib.jar
diff --git a/build/jars/cscore.jar b/build/jars/cscore.jar
diff --git a/build/jars/niVisionWPI.jar b/build/jars/niVisionWPI.jar
diff --git a/build/jars/opencv.jar b/build/jars/opencv.jar
diff --git a/build/org/usfirst/frc/team708/robot/AutoConstants.class b/build/org/usfirst/frc/team708/robot/AutoConstants.class
diff --git a/build/org/usfirst/frc/team708/robot/Constants.class b/build/org/usfirst/frc/team708/robot/Constants.class
diff --git a/build/org/usfirst/frc/team708/robot/OI.class b/build/org/usfirst/frc/team708/robot/OI.class
diff --git a/build/org/usfirst/frc/team708/robot/Robot.class b/build/org/usfirst/frc/team708/robot/Robot.class
diff --git a/build/org/usfirst/frc/team708/robot/RobotMap.class b/build/org/usfirst/frc/team708/robot/RobotMap.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/AllianceSelection/BlueAlliance.class b/build/org/usfirst/frc/team708/robot/commands/AllianceSelection/BlueAlliance.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/AllianceSelection/RedAlliance.class b/build/org/usfirst/frc/team708/robot/commands/AllianceSelection/RedAlliance.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/Climber/ClimbDown.class b/build/org/usfirst/frc/team708/robot/commands/Climber/ClimbDown.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/Climber/ClimbUp.class b/build/org/usfirst/frc/team708/robot/commands/Climber/ClimbUp.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/Climber/ManualMoveClimber.class b/build/org/usfirst/frc/team708/robot/commands/Climber/ManualMoveClimber.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/AutoFireBalls.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/AutoFireBalls.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/DoNothing.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/DoNothing.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/DriveInSquare.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/DriveInSquare.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/JustTenBalls.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/JustTenBalls.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/OneGearCenter.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/OneGearCenter.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/OneGearLeft.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/OneGearLeft.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/SixtyBalls.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/SixtyBalls.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/TenBalls.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/TenBalls.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/driveDistance.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/driveDistance.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/autonomous/turn.class b/build/org/usfirst/frc/team708/robot/commands/autonomous/turn.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/DriveStraightToEncoderDistance.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/DriveStraightToEncoderDistance.class
diff --git a/.../usfirst/frc/team708/robot/commands/drivetrain/DriveStraightToEncoderDistanceOrTime.class b/.../usfirst/frc/team708/robot/commands/drivetrain/DriveStraightToEncoderDistanceOrTime.class
diff --git a/...st/frc/team708/robot/commands/drivetrain/DriveStraightToEncoderDistanceOrTimeOrGear.class b/...st/frc/team708/robot/commands/drivetrain/DriveStraightToEncoderDistanceOrTimeOrGear.class
diff --git a/...frc/team708/robot/commands/drivetrain/DriveStraightToEncoderDistanceOrTimeOrHasGear.class b/...frc/team708/robot/commands/drivetrain/DriveStraightToEncoderDistanceOrTimeOrHasGear.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/DriveToIRDistance.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/DriveToIRDistance.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/JoystickDrive.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/JoystickDrive.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/RotateAndDriveToBoiler.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/RotateAndDriveToBoiler.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/RotateAndDriveToLift.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/RotateAndDriveToLift.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/Send.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/Send.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/ToggleBrakeMode.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/ToggleBrakeMode.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/TurnToDegrees.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/TurnToDegrees.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/drivetrain/TurnToDegreesAlliance.class b/build/org/usfirst/frc/team708/robot/commands/drivetrain/TurnToDegreesAlliance.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/feeder/FeederOff.class b/build/org/usfirst/frc/team708/robot/commands/feeder/FeederOff.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/feeder/ManualFeeder.class b/build/org/usfirst/frc/team708/robot/commands/feeder/ManualFeeder.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/feeder/SpinFeeder.class b/build/org/usfirst/frc/team708/robot/commands/feeder/SpinFeeder.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/feeder/SpinFeederBack.class b/build/org/usfirst/frc/team708/robot/commands/feeder/SpinFeederBack.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_ball/Intake_Ball_In.class b/build/org/usfirst/frc/team708/robot/commands/intake_ball/Intake_Ball_In.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_ball/Intake_Ball_Out.class b/build/org/usfirst/frc/team708/robot/commands/intake_ball/Intake_Ball_Out.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_ball/ManualIntake_Ball.class b/build/org/usfirst/frc/team708/robot/commands/intake_ball/ManualIntake_Ball.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_gear/GearAdjust.class b/build/org/usfirst/frc/team708/robot/commands/intake_gear/GearAdjust.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_gear/GearIntake.class b/build/org/usfirst/frc/team708/robot/commands/intake_gear/GearIntake.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_Down.class b/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_Down.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_In.class b/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_In.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_Off.class b/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_Off.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_Out.class b/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_Out.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_Up.class b/build/org/usfirst/frc/team708/robot/commands/intake_gear/Intake_Gear_Up.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/intake_gear/ReleaseGear.class b/build/org/usfirst/frc/team708/robot/commands/intake_gear/ReleaseGear.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/led_out/LED_out.class b/build/org/usfirst/frc/team708/robot/commands/led_out/LED_out.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/led_out/SetLED.class b/build/org/usfirst/frc/team708/robot/commands/led_out/SetLED.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/loader/LoaderOff.class b/build/org/usfirst/frc/team708/robot/commands/loader/LoaderOff.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/loader/LoaderSpinIn.class b/build/org/usfirst/frc/team708/robot/commands/loader/LoaderSpinIn.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/loader/LoaderSpinOut.class b/build/org/usfirst/frc/team708/robot/commands/loader/LoaderSpinOut.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/loader/ManualLoader.class b/build/org/usfirst/frc/team708/robot/commands/loader/ManualLoader.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/shooter/HoodAdjust.class b/build/org/usfirst/frc/team708/robot/commands/shooter/HoodAdjust.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/shooter/ManualShoot.class b/build/org/usfirst/frc/team708/robot/commands/shooter/ManualShoot.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/shooter/MoveHoodHigh.class b/build/org/usfirst/frc/team708/robot/commands/shooter/MoveHoodHigh.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/shooter/MoveHoodLow.class b/build/org/usfirst/frc/team708/robot/commands/shooter/MoveHoodLow.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/shooter/SpinShooter.class b/build/org/usfirst/frc/team708/robot/commands/shooter/SpinShooter.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/shooter/SpinShooterBack.class b/build/org/usfirst/frc/team708/robot/commands/shooter/SpinShooterBack.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/shooter/StopShooter.class b/build/org/usfirst/frc/team708/robot/commands/shooter/StopShooter.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/visionProcessor/FindTarget.class b/build/org/usfirst/frc/team708/robot/commands/visionProcessor/FindTarget.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/visionProcessor/GripPipelineBoiler.class b/build/org/usfirst/frc/team708/robot/commands/visionProcessor/GripPipelineBoiler.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/visionProcessor/GripPipelineLift.class b/build/org/usfirst/frc/team708/robot/commands/visionProcessor/GripPipelineLift.class
diff --git a/build/org/usfirst/frc/team708/robot/commands/visionProcessor/GripPipelineLiftGear.class b/build/org/usfirst/frc/team708/robot/commands/visionProcessor/GripPipelineLiftGear.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Climber.class b/build/org/usfirst/frc/team708/robot/subsystems/Climber.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Drivetrain.class b/build/org/usfirst/frc/team708/robot/subsystems/Drivetrain.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Feeder.class b/build/org/usfirst/frc/team708/robot/subsystems/Feeder.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Hanger.class b/build/org/usfirst/frc/team708/robot/subsystems/Hanger.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Intake.class b/build/org/usfirst/frc/team708/robot/subsystems/Intake.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Intake_Ball.class b/build/org/usfirst/frc/team708/robot/subsystems/Intake_Ball.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Intake_Gear.class b/build/org/usfirst/frc/team708/robot/subsystems/Intake_Gear.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/LED.class b/build/org/usfirst/frc/team708/robot/subsystems/LED.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Loader.class b/build/org/usfirst/frc/team708/robot/subsystems/Loader.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Pivot_Gear.class b/build/org/usfirst/frc/team708/robot/subsystems/Pivot_Gear.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/Shooter.class b/build/org/usfirst/frc/team708/robot/subsystems/Shooter.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/VisionBoiler.class b/build/org/usfirst/frc/team708/robot/subsystems/VisionBoiler.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/VisionLift.class b/build/org/usfirst/frc/team708/robot/subsystems/VisionLift.class
diff --git a/build/org/usfirst/frc/team708/robot/subsystems/VisionProcessor.class b/build/org/usfirst/frc/team708/robot/subsystems/VisionProcessor.class
diff --git a/build/org/usfirst/frc/team708/robot/util/Gamepad.class b/build/org/usfirst/frc/team708/robot/util/Gamepad.class
diff --git a/build/org/usfirst/frc/team708/robot/util/HatterDrive.class b/build/org/usfirst/frc/team708/robot/util/HatterDrive.class
diff --git a/build/org/usfirst/frc/team708/robot/util/Math708.class b/build/org/usfirst/frc/team708/robot/util/Math708.class
diff --git a/build/org/usfirst/frc/team708/robot/util/triggers/AxisDown.class b/build/org/usfirst/frc/team708/robot/util/triggers/AxisDown.class
diff --git a/build/org/usfirst/frc/team708/robot/util/triggers/AxisUp.class b/build/org/usfirst/frc/team708/robot/util/triggers/AxisUp.class
diff --git a/dist/FRCUserProgram.jar b/dist/FRCUserProgram.jar
diff --git a/src/org/usfirst/frc/team708/robot/AutoConstants.java b/src/org/usfirst/frc/team708/robot/AutoConstants.java
@@ -1,11 +1,85 @@
 package org.usfirst.frc.team708.robot;
 
 public final class AutoConstants {
+
+
+	// Threshold Constants 
+	public static final double DISTANCE_TARGET_THRESHOLD	= 0; //5;	// threshold for determining the distance to stop in front of the lift
+	public static final double X_THRESHOLD_CENTER 			= 10; //20;	// threshold for determining center of the target 
+	public static final double X_THRESHOLD_HAS_TARGET_MIN 	= 1;	// threshold for determining min value for whether the robot sees the target	 
+	public static final double X_THRESHOLD_HAS_TARGET_MAX 	= 320;	// threshold for determining max value for whether the robot sees the target
+	public static final double Y_HEIGHT_THRESHOLD			= 5;	// threshold for determining the stop location of height
+
+	// Sweep Constants
+	public static final int SWEEP1_MIN						= 0;
+	public static final int SWEEP1_MAX 						= 100;
+	public static final int SWEEP2_MIN 						= 101;
+	public static final int SWEEP2_MAX 						= 200;
+	public static final int SWEEP3_MIN 						= 201;
+	public static final int SWEEP3_MAX 						= 300;
+	public static final int SWEEP_DIRECTION_LEFT 			= -1;
+	public static final int SWEEP_DIRECTION_RIGHT 			= 1;
+	public static final double SWEEP_ROTATE 				= .3;
 
-	public static final double Y_TARGET 	= 190;
-	public static final double Y_THRESHOLD	= 5;
-	public static final double X_THRESHOLD 	= 20;
+	// Drivetrain Constants
+	public static final double DRIVE_ROTATE_MIN 			= .3;
+	public static final double DRIVE_ROTATE_MAX 			= .5;
+	public static final double DRIVE_MOVE_MIN 				= .3;
+	public static final double DRIVE_MOVE_MAX 				= .5;
+
+	// Lift Constants (Field)
+	public static final int LIFT_TARGET_HEIGHT 				= 5;
+	public static final int LIFT_TARGET_WIDTH 				= 10;
+	public static final int DISTANCE_TO_LIFT_TARGET 		= 18;	//was 18,  Distance to stop at to place gear on lift peg
+
+
+	// Boiler Constants (Field)
+	public static final double X_THRESHOLD_CENTER_BOILER 		= 1.0;
+	public static final double BOILER_ROTATE_SPEED  			= .25;
 
-	public static final double DISTANCE_TO_GEAR		= 60;
-	public static final double DISTANCE_TO_HOPPER	= 140;
+	public static final int BOILER_TARGET_HEIGHT 			= 10;
+	public static final int BOILER_TARGET_WIDTH 			= 14;
+	public static final double DISTANCE_TO_BOILER_LOCATION1 = 54;	// A distance to stop at and shoot for high goal in inches
+	public static final double DISTANCE_TO_BOILER_LOCATION2	= 108;	// A distance to stop at and shoot for high goal in inches (9')
+
+	public static final double STOP_AT_BOILER_HEIGHT		= 10;  //60//100;  // y value when the robot is about 108" from boiler
+
+	// Gear Constants (Game piece)
+	public static final double DISTANCE_TO_GEAR				= 14;
+	public static final int GEAR_TARGET_HEIGHT 				= 4;
+	public static final int GEAR_TARGET_WIDTH 				= 10;
+
+
+	// Hopper Constants (Field)
+	public static final double DISTANCE_TO_HOPPER			= 140;
+
+
+
+	// Axis Camera constants
+	public static final double	 AXIS_FOV_DEGREES 			= 43.5;			// Field of View of the AXIS Camera
+	public static final int 	AXIS_IMG_WIDTH 				= 320;			// width of the AXIS image - resolution
+	public static final int 	AXIS_IMG_HEIGHT 			= 240;			// height of the AXIS image - resolution
+
+	// USB Camera Constants
+	public static final double USB_FOV_DEGREES 				= 75;			// Field of View of the USB Camera
+	public static final int USB_IMG_WIDTH 					= 320;			// width of the USB image - resolution
+	public static final int USB_IMG_HEIGHT 					= 240;			// height of the USB image - resolution
+
+
+	// USB Lift Camera Constants
+	public static final double 	USB_LIFT_FOV_DEGREES 		= 43.5;			// Field of View of the AXIS Camera
+	public static final int 	USB_LIFT_IMG_WIDTH 			= 320;			// width of the USB image - resolution
+	public static final int 	USB_LIFT_IMG_HEIGHT 		= 240;			// height of the USB image - resolution
+
+
+	// AXIS Camera Constants
+	public static final double 	USB_BOILER_FOV_DEGREES 			= 47.5;			// Field of View of the AXIS Camera - from RoboRealm
+	public static final int 	USB_BOILER_IMG_WIDTH 			= 320;			// width of the USB image - resolution
+	public static final int 	USB_BOILER_IMG_HEIGHT 			= 240;			// height of the USB image - resolution
+
+	public static final String AXIS_IP_ADDRESS				= "10.7.8.12";      // lift -practice - 10.7.8.2
+	public static final String AXIS_CAMERA_ID				=  "cam3";			// lift - practice - cam1    comp - 3
+	public static final String USB_CAMERA_ID				=  "cam0";			// boiler - practice - cam3   comp - 2
+	public static final int USB_VIDEO_PORT					=  0;				// boiler - practice - 0
+
 }
diff --git a/src/org/usfirst/frc/team708/robot/Constants.java b/src/org/usfirst/frc/team708/robot/Constants.java
@@ -1,74 +1,147 @@
 package org.usfirst.frc.team708.robot;
 
+
+//GEAR Camera is 20.5" from the floor
+//Boiler camera is 33.75"  from the floor
+
+
 public final class Constants {
 
 	/*
 	 * Motor Controllers
 	 */
 	public static final double INTAKE_FORWARD 		=  1.0;
-	public static final double INTAKE_REVERSE 		= -1.0;
+	public static final double INTAKE_REVERSE 		=  -1.0;
 	public static final double INTAKE_OFF 			=  0.0;
 
+	public static final double CLIMB_FORWARD 		=  1.0;
+	public static final double CLIMB_REVERSE 		= -1.0;
+	public static final double CLIMB_OFF 			=  0.0;
+
+	public static final double GEAR_UP 				=  0.4;
+	public static final double GEAR_DOWN	 		=  -0.4;
+	public static final double GEAR_OFF 			=  0.0;
+	public static final double GEAR_IN 				=  1.0;
+	public static final double GEAR_OUT 			=  -1.0;
+
+
+	public static final int PIVOT_GEAR_ENCODER_COUNT	=  1024;
+	public static final int PIVOT_GEAR_ENCODER_HIGH		=  0;  //20; //35;
+	public static final int PIVOT_GEAR_ENCODER_LOW		=  -35;   //-19; // 5;
+
+
 	public static final double MOTOR_FORWARD 		=  1.0;
 	public static final double MOTOR_REVERSE 		= -1.0;
 	public static final double MOTOR_OFF 			=  0.0;
 
 	public static final double DRIVE_MOTOR_MAX_SPEED 		= 1.0;
 	public static final double ROTATE_MOTOR_MAX_SPEED 		= 1.0;
 
-	public static final double VISION_ROTATE_MOTOR_SPEED	= 0.8;
+	public static final double VISION_ROTATE_MOTOR_SPEED		= 0.8;
 
-	public static final double LOADER_MOTOR_FORWARD 		=  1.0;
-	public static final double LOADER_MOTOR_REVERSE 		= -1.0;
-	public static final double LOADER_OFF 					=  0.0;
+	public static final double FEEDER_MOTOR_FORWARD 		=   0.5;    //1.0;
+	public static final double FEEDER_MOTOR_REVERSE 		=  -0.5;    //-1.0;
+	public static final double FEEDER_OFF 					=   0.0;	
 
+//	public static final double LOADER_MOTOR_FORWARD 		=  1.0;
+//	public static final double LOADER_MOTOR_REVERSE 		= -1.0;
+//	public static final double LOADER_OFF 					=  0.0;	
+//	
 	public static final double SHOOTER_MOTOR_FORWARD 		=  1.0;
 	public static final double SHOOTER_MOTOR_OFF			=  0.0;
 	public static final double SHOOTER_MOTOR_BACKWARD 		=  -1.0;
-	public static final double SHOOTER_MOTOR_SPEED_LOW 		=  5200;
-	public static final double SHOOTER_MOTOR_SPEED_HIGH 	=  5200;
-	public static final double SHOOTER_F_HIGH 				=  .17126;
-	public static final double SHOOTER_F_LOW 				=  .2398;
 
+	public static final int SHOOTER_MOTOR_SPEED_BOILER 		=  2050;
+	public static final int SHOOTER_MOTOR_SPEED_LEVER 		=  2700;
+
+//	public static final int SHOOTER_MOTOR_SPEED_MID 		=  2700;
+	public static final int SHOOTER_CLOSE_SHOT				=  20; //encoder value for bumper
+
+
+	public static final double 	SHOOTER_PEAK_POS 			=  12.0;
+	public static final double 	SHOOTER_PEAK_NEG			= -12.0;
 
+	public static final int 	HOOD_MIN 				=  30;
+	public static final int		HOOD_MAX 				=  2050;	
+	public static final int 	HOOD_BOILER 			=  400;
+	public static final int 	HOOD_MID	 			=  300;
+	public static final int 	HOOD_LEVER				=  30 ; //330;
+
+	public static final int 	SHOOTER_ENCODER_PULSES	 	= 12;
+
+	public static final double 	SHOOTER_P 					=  40.0;//1.5;
+	public static final double	SHOOTER_I 					=  0.0;//0.005;
+	public static final double 	SHOOTER_D 					=  0.0;//10.0;
+	public static final double 	SHOOTER_F 					=  2.3;
+	public static final int 	SHOOTER_IZONE 				=  00;
+	public static final double 	SHOOTER_RAMPRATE 			=  0.0;
+	public static final int		SHOOTER_PROFILE 			=  0;
+
+	public static final int 	HOOD_CALIBRATION 			=  10;	
+
+	public static final double 	AXIS_DEAD_ZONE	 			=  0.3;
+
 	/*
 	 * Smart Dashboard
 	 */
-	public static final double SEND_STATS_INTERVAL	= .5;	// Interval for reporting in seconds
-	public static final boolean DEBUG 				= true;
-
+	public static final double  SEND_STATS_INTERVAL			= .1;	// Interval for reporting in seconds
+	public static final boolean DEBUG 						= true;
+	public static final boolean LIFT_DEBUG 					= true;
+	public static final boolean BOILER_DEBUG 				= true;
+	public static final boolean GEAR_DEBUG 					= false;
+	public static final boolean LIFT_CAMERA_OUTPUT_DEBUG 	= false;
+	public static final boolean BOILER_CAMERA_OUTPUT_DEBUG	= false;
 
 	/*
 	 * Sensors
 	 */
-	public static final double SONAR_CLOSE 								= 30.0;
-	public static final double SONAR_FAR 								= 80.0;
-	public static final double IR_HAS_GEAR_DISTANCE 					= 4.0;
-	public static final double ENCODER_BOTTOM_POSITION 					= 0.0;
-	public static final double GRAYHILL_ENCODER_PULSES_PER_REVOLUTION 	= 128.0;
+	public static final double SONAR_CLOSE 						= 30.0;
+	public static final double SONAR_FAR 						= 80.0;
+	public static final double IR_AT_LEVERDISTANCE	 			= 4.0;
+	public static final double ENCODER_BOTTOM_POSITION 			= 0.0;
+
+//	public static final double GRAYHILL_ENCODER_PULSES_PER_REVOLUTION 	= 1024.0;
 
 
 	/*
 	 * Drivetrain
 	 */
 	public static final double 	TANK_STICK_TOLERANCE 				= .30;
-	public static final double 	DRIVETRAIN_WHEEL_DIAMETER 			= 4.0;
-	public static final double 	DRIVETRAIN_ENCODER_PULSES_PER_REV 	= 128.0;
+	public static final double  DRIVETRAIN_WHEEL_DIAMETER 			= 4.0;
+	public static final int 	DRIVETRAIN_ENCODER_PULSES_PER_REV 	= 5704; //encoder 1024 * gear ratio 5.57
 	public static final boolean DRIVE_USE_SQUARED_INPUT 			= false;
 	public static final boolean DRIVETRAIN_USE_LEFT_ENCODER			= true; // variable to determine which side encoder is on
+	public static final double 	PEAK_POS 							= 4.0;
+	public static final double 	PEAK_NEG							= -4.0;
+	public static final double 	NOMINAL_POS			 				= 0.0;
+	public static final double 	NOMINAL_NEG							= -0.0;
+
 
+// PID Tuning parameters
+		public static final double Kp = 0.0;		// Proportional gain
+		public static final double Ki = 0.0;		// Integral gain
+		public static final double Kd = 0.0;		// Derivative gain	
+		public static final double pid_tolerance = 1;
 
-	// PID Tuning parameters
-	public static final double Kp = 0.0;		// Proportional gain
-	public static final double Ki = 0.0;		// Integral gain
-	public static final double Kd = 0.0;		// Derivative gain
 
-	public static final double pid_tolerance = 1;
+	 public static final int CLOCKWISE = 1;
+	 public static final int COUNTERCLOCKWISE = -1;
+
+	// LED CONTROLS
 
+	public static final byte SET_ALLIANCE_INVALID 		= 	0x00; // blinky white
+	public static final byte SET_ALLIANCE_RED 	 		=	0x01; // knight rider red
+	public static final byte SET_ALLIANCE_BLUE  		=	0x02; // knight rider blue
+	public static final byte SET_TARGETING  		 	=	0x03; // blinky red J
+	public static final byte SET_TARGET_FOUND  	 		=	0x04; // solid red
+	public static final byte SET_HAS_GEAR	  	 		=	0x05; // solid green
+	public static final byte SET_HAS_GEAR_TARGETING		=	0x06; //  ????  blank?? blinky green
+//	public static final byte 	  	 					=	0x07;
+//	public static final byte 		  					=	0x08;
+	public static final byte SET_OFF		  			=	0x09; // off
+	public static final byte MAX_LED_CODE				=	0x10;	
 
-	/*
-	 * Vision Processor
-	 */
-	// public static final double ;
+	public static final int ALLIANCE_RED 	 	=	1;
+	public static final int ALLIANCE_BLUE 	 	=	-1;
 
 }