| 1 | package org.usfirst.frc.team3501.robot.commands; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; |
| 4 | import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.command.CommandGroup; |
| 7 | |
| 8 | /** |
| 9 | * This command group will be used in autonomous. Based on what position the |
| 10 | * robot is in, the robot will align with the goal |
| 11 | * |
| 12 | * pre-condition: robot is flush against a defense at the specified position in |
| 13 | * the opponent's courtyard |
| 14 | * |
| 15 | * post-condition: the robot is parallel to one of the three goals and the |
| 16 | * shooter is facing that goal |
| 17 | * |
| 18 | */ |
| 19 | public class AlignToScore extends CommandGroup { |
| 20 | private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0; |
| 21 | |
| 22 | private final double DEFAULT_SPEED = 0.5; |
| 23 | private final double maxTimeout = 5; |
| 24 | |
| 25 | // constants for position 1: low bar |
| 26 | private final double POS1_DIST1 = 0; |
| 27 | private final double POS1_TURN1 = 0; |
| 28 | private final double POS1_DIST2 = 0; |
| 29 | |
| 30 | // constants for position 2 |
| 31 | private final double POS2_DIST1 = 0; |
| 32 | private final double POS2_TURN1 = 0; |
| 33 | private final double POS2_DIST2 = 0; |
| 34 | |
| 35 | // constants for position 3 |
| 36 | private final double POS3_DIST1 = 0; |
| 37 | private final double POS3_TURN1 = 0; |
| 38 | private final double POS3_DIST2 = 0; |
| 39 | private final double POS3_TURN2 = 0; |
| 40 | private final double POS3_DIST3 = 0; |
| 41 | |
| 42 | // constants for position 4 |
| 43 | private final double POS4_DIST1 = 0; |
| 44 | private final double POS4_TURN1 = 0; |
| 45 | private final double POS4_DIST2 = 0; |
| 46 | private final double POS4_TURN2 = 0; |
| 47 | private final double POS4_DIST3 = 0; |
| 48 | |
| 49 | // constants for position 5 |
| 50 | private final double POS5_DIST1 = 0; |
| 51 | private final double POS5_TURN1 = 0; |
| 52 | private final double POS5_DIST2 = 0; |
| 53 | |
| 54 | public AlignToScore(int position) { |
| 55 | |
| 56 | switch (position) { |
| 57 | |
| 58 | // position 1 is always the low bar |
| 59 | case 1: |
| 60 | |
| 61 | addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED)); |
| 62 | addSequential(new TurnForAngle(POS1_TURN1, maxTimeout)); |
| 63 | addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED)); |
| 64 | |
| 65 | case 2: |
| 66 | |
| 67 | addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED)); |
| 68 | addSequential(new TurnForAngle(POS2_TURN1, maxTimeout)); |
| 69 | addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED)); |
| 70 | |
| 71 | case 3: |
| 72 | |
| 73 | addSequential(new DriveDistance(POS3_DIST1, DEFAULT_SPEED)); |
| 74 | addSequential(new TurnForAngle(POS3_TURN1, maxTimeout)); |
| 75 | addSequential(new DriveDistance(POS3_DIST2, DEFAULT_SPEED)); |
| 76 | addSequential(new TurnForAngle(POS3_TURN2, maxTimeout)); |
| 77 | addSequential(new DriveDistance(POS3_DIST3, DEFAULT_SPEED)); |
| 78 | |
| 79 | case 4: |
| 80 | |
| 81 | addSequential(new DriveDistance(POS4_DIST1, DEFAULT_SPEED)); |
| 82 | addSequential(new TurnForAngle(POS4_TURN1, maxTimeout)); |
| 83 | addSequential(new DriveDistance(POS4_DIST2, DEFAULT_SPEED)); |
| 84 | addSequential(new TurnForAngle(POS4_TURN2, maxTimeout)); |
| 85 | addSequential(new DriveDistance(POS4_DIST3, DEFAULT_SPEED)); |
| 86 | |
| 87 | case 5: |
| 88 | |
| 89 | addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED)); |
| 90 | addSequential(new TurnForAngle(POS5_TURN1, maxTimeout)); |
| 91 | addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED)); |
| 92 | } |
| 93 | } |
| 94 | } |