<commit_before>package org.usfirst.frc.team2471.robot;

import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PowerDistributionPanel;
import edu.wpi.first.wpilibj.Solenoid;

/**
 * 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 {
	// 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;
	
	/* ------------------------- Robot __________________________________*/
	
	public static PowerDistributionPanel pdp;

	/* -------------------- Drive Train -------------------------------- */
	public static CANTalon lDrive1;
	public static CANTalon lDriveMiddle;
	public static CANTalon lDrive2;
	public static Encoder leftE;

	public static CANTalon rDrive1;
	public static CANTalon rDriveMiddle;
	public static CANTalon rDrive2;
	public static Encoder rightE;

	public static Solenoid shifter;

	public static Solenoid lPTO;
	public static Solenoid rPTO;

	public static int gear;

	/* _______________________Sucker stuff__________________________________ */
	public static CANTalon ftop;
	public static CANTalon fbottom;
	public static CANTalon orbital;

	public static Solenoid fextend;

	public static DigitalInput ltop;
	public static DigitalInput lbottom;

	public static Solenoid bunnyGrabber;

	public static void init() {

		// Drivetrain
		lDrive1 = new CANTalon(0); // TODO: get ids when electrical is ready
		lDriveMiddle = new CANTalon(1);
		lDrive2 = new CANTalon(2);
		leftE = new Encoder(6, 7);
		leftE.setDistancePerPulse(0.05/12);

		rDrive1 = new CANTalon(3);
		rDriveMiddle = new CANTalon(4);
		rDrive2 = new CANTalon(5);
		rightE = new Encoder(0, 1);
		rightE.setDistancePerPulse(-0.05/12);
		shifter = new Solenoid(0);

		gear = 0;
<commit_msg>Comments on distance per pulse<commit_after>package org.usfirst.frc.team2471.robot;

import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PowerDistributionPanel;
import edu.wpi.first.wpilibj.Solenoid;

/**
 * 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 {
	// 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;
	
	/* ------------------------- Robot __________________________________*/
	
	public static PowerDistributionPanel pdp;

	/* -------------------- Drive Train -------------------------------- */
	public static CANTalon lDrive1;
	public static CANTalon lDriveMiddle;
	public static CANTalon lDrive2;
	public static Encoder leftE;

	public static CANTalon rDrive1;
	public static CANTalon rDriveMiddle;
	public static CANTalon rDrive2;
	public static Encoder rightE;

	public static Solenoid shifter;

	public static Solenoid lPTO;
	public static Solenoid rPTO;

	public static int gear;

	/* _______________________Sucker stuff__________________________________ */
	public static CANTalon ftop;
	public static CANTalon fbottom;
	public static CANTalon orbital;

	public static Solenoid fextend;

	public static DigitalInput ltop;
	public static DigitalInput lbottom;

	public static Solenoid bunnyGrabber;

	public static void init() {

		// Drivetrain
		lDrive1 = new CANTalon(0); // TODO: get ids when electrical is ready
		lDriveMiddle = new CANTalon(1);
		lDrive2 = new CANTalon(2);
		leftE = new Encoder(6, 7);
		leftE.setDistancePerPulse(0.05/12);  // ( Math.PI * 3.0 / 200.0 / 12.0 )  // diameter, ticks per rev, inches per foot

		rDrive1 = new CANTalon(3);
		rDriveMiddle = new CANTalon(4);
		rDrive2 = new CANTalon(5);
		rightE = new Encoder(0, 1);
		rightE.setDistancePerPulse(-0.05/12);  // ( -Math.PI * 3.0 / 200.0 / 12.0 )  // diameter, ticks per rev, inches per foot
		shifter = new Solenoid(0);
		
		gear = 0;

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