| 1 | |
| 2 | package org.usfirst.frc.team3501.robot.commandgroups; |
| 3 | |
| 4 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.command.CommandGroup; |
| 7 | |
| 8 | /** |
| 9 | * |
| 10 | * Authors Ayush, Nadia, Aziza and Abhinav |
| 11 | * |
| 12 | * This comandGroup, PlaceGearOnMiddlePeg is expected to have the robot start |
| 13 | * from the middle of the starting line, right in front of the airship. The |
| 14 | * robot will drive forward and place the gear on the peg. Then, the robot will |
| 15 | * drive backwards, turn left, drive forward, turn right, and drive forward |
| 16 | * again to cross the baseline. |
| 17 | */ |
| 18 | public class AutonMiddleGear extends CommandGroup { |
| 19 | private static final double DISTANCE_TO_PEG = 91.3 - 32; |
| 20 | private static final double DISTANCE_TO_BACK_OUT = -29.75; |
| 21 | private static final double THIRD_DISTANCE_TO_TRAVEL = 70; |
| 22 | private static final double DISTANCE_TO_BASELINE = 50.5; |
| 23 | |
| 24 | private static final double ANGLE_TO_TURN = 90; |
| 25 | |
| 26 | private static final double maxTimeOut = 7; |
| 27 | |
| 28 | /*** |
| 29 | * This auton command group places the gear on the middle peg then crosses the |
| 30 | * baseline |
| 31 | * |
| 32 | * @param direction |
| 33 | * direction to turn after placing gear on peg in order to cross the |
| 34 | * baseline. Only Direction.LEFT and Direction.RIGHT will be accepted |
| 35 | */ |
| 36 | public AutonMiddleGear() { |
| 37 | addSequential(new DriveDistance(DISTANCE_TO_PEG, maxTimeOut)); |
| 38 | // addSequential(new WaitCommand(3)); |
| 39 | // addSequential(new DriveDistance(DISTANCE_TO_BACK_OUT, maxTimeOut)); |
| 40 | // addSequential(new TurnForAngle(ANGLE_TO_TURN, direction, maxTimeOut)); |
| 41 | // addSequential(new DriveDistance(THIRD_DISTANCE_TO_TRAVEL, maxTimeOut)); |
| 42 | // addSequential( |
| 43 | // new TurnForAngle(ANGLE_TO_TURN, oppositeOf(direction), maxTimeOut)); |
| 44 | // addSequential(new DriveDistance(DISTANCE_TO_BASELINE, maxTimeOut)); |
| 45 | } |
| 46 | } |