<commit_before>package org.usfirst.frc.team2339.Barracuda;

import edu.wpi.first.wpilibj.Joystick;

public class RobotMap {
	
	public static class Control {
		// Joystick for driving
		public static final Joystick DRIVE_STICK = new Joystick(0);
		// Joystick for lift control
		public static final Joystick OPERATOR_STICK = new Joystick(1);
	};
	
	public static class SwerveMap {
		public static class Constants {
			// These should be set to actual robot dimensions. 
			// I don't think the units matter but looks like the original is in inches
			public static final double WHEEL_BASE_LENGTH = 28;
			public static final double WHEEL_BASE_WIDTH = 38;
			// AndyMark Gearmotor am-2971. See http://www.andymark.com/product-p/am-2971.htm
			public static final double STEERING_ENC_PULSES_PER_REVOLUTION = 7;
			public static final double STEERING_PID_P = 0;
			public static final double STEERING_PID_I = 0;
			public static final double STEERING_PID_D = 0;
		};
		
		public static class Control {
			public static final Joystick DRIVE_STICK = RobotMap.Control.DRIVE_STICK;
			public static final int DRIVE_AXIS_FORWARD_BACK = 1;
			public static final int DRIVE_AXIS_SIDEWAYS = 2;
			public static final int DRIVE_AXIS_ROTATE = 3;
			public static final int DRIVE_CONTROLLER_SHIFT_LOW = 1;
			public static final int DRIVE_CONTROLLER_SHIFT_HIGH = 2;
		}

		public static class PWM {
			public static final int DRIVE_FRONT_LEFT = 0;
			public static final int DRIVE_FRONT_LEFT_STEERING = 1;
			public static final int DRIVE_FRONT_RIGHT = 2;
			public static final int DRIVE_FRONT_RIGHT_STEERING = 3;
			public static final int DRIVE_REAR_LEFT = 4;
			public static final int DRIVE_REAR_LEFT_STEERING = 5;
			public static final int DRIVE_REAR_RIGHT = 6;
			public static final int DRIVE_REAR_RIGHT_STEERING = 7;
		};
		
		public static class DIO {
			public static final int DRIVE_FRONT_LEFT_ENC_A = 0;
			public static final int DRIVE_FRONT_LEFT_ENC_B = 1;
			public static final int DRIVE_FRONT_RIGHT_ENC_A = 2;
			public static final int DRIVE_FRONT_RIGHT_ENC_B = 3;
			public static final int DRIVE_REAR_LEFT_ENC_A = 4;
			public static final int DRIVE_REAR_LEFT_ENC_B = 5;
			public static final int DRIVE_REAR_RIGHT_ENC_A = 6;
			public static final int DRIVE_REAR_RIGHT_ENC_B = 7;
		};

		public static class Solenoid {
			public static final int DRIVE_SHIFT_HIGH = 1;<commit_msg>Update encode information from AndyMark data.<commit_after>package org.usfirst.frc.team2339.Barracuda;

import edu.wpi.first.wpilibj.Joystick;

public class RobotMap {
	
	public static class Control {
		// Joystick for driving
		public static final Joystick DRIVE_STICK = new Joystick(0);
		// Joystick for lift control
		public static final Joystick OPERATOR_STICK = new Joystick(1);
	};
	
	public static class SwerveMap {
		public static class Constants {
			// These should be set to actual robot dimensions. 
			// I don't think the units matter but looks like the original is in inches
			public static final double WHEEL_BASE_LENGTH = 28;
			public static final double WHEEL_BASE_WIDTH = 38;
			// AndyMark Gearmotor am-2971. See http://www.andymark.com/product-p/am-2971.htm
			// 497 = 7 pulse per motor revolution * 71 gear ratio. 
			public static final double STEERING_ENC_PULSES_PER_REVOLUTION = 497;
			public static final double STEERING_PID_P = 0;
			public static final double STEERING_PID_I = 0;
			public static final double STEERING_PID_D = 0;
		};
		
		public static class Control {
			public static final Joystick DRIVE_STICK = RobotMap.Control.DRIVE_STICK;
			public static final int DRIVE_AXIS_FORWARD_BACK = 1;
			public static final int DRIVE_AXIS_SIDEWAYS = 2;
			public static final int DRIVE_AXIS_ROTATE = 3;
			public static final int DRIVE_CONTROLLER_SHIFT_LOW = 1;
			public static final int DRIVE_CONTROLLER_SHIFT_HIGH = 2;
		}

		public static class PWM {
			public static final int DRIVE_FRONT_LEFT = 0;
			public static final int DRIVE_FRONT_LEFT_STEERING = 1;
			public static final int DRIVE_FRONT_RIGHT = 2;
			public static final int DRIVE_FRONT_RIGHT_STEERING = 3;
			public static final int DRIVE_REAR_LEFT = 4;
			public static final int DRIVE_REAR_LEFT_STEERING = 5;
			public static final int DRIVE_REAR_RIGHT = 6;
			public static final int DRIVE_REAR_RIGHT_STEERING = 7;
		};
		
		public static class DIO {
			/*
			 * Swapped values because of this note from AndyMark
			 * Note: Because the encoder is connected to the back of the motor shaft, the rotation is 
			 * backwards from normal front mounted encoders so you will need compensate for this in software or 
			 * simply connect Ch. A output to your Ch. B input and Ch. B output to your Ch. A input.
			 */
			public static final int DRIVE_FRONT_LEFT_ENC_A = 1;
			public static final int DRIVE_FRONT_LEFT_ENC_B = 0;
			public static final int DRIVE_FRONT_RIGHT_ENC_A = 3;
			public static final int DRIVE_FRONT_RIGHT_ENC_B = 2;
			public static final int DRIVE_REAR_LEFT_ENC_A = 5;
			public static final int DRIVE_REAR_LEFT_ENC_B = 4;
			public static final int DRIVE_REAR_RIGHT_ENC_A = 7;
			public static final int DRIVE_REAR_RIGHT_ENC_B = 6;
		};

		public static class Solenoid {
			public static final int DRIVE_SHIFT_HIGH = 1;
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