+ private final static double CENTER_OF_MASS_TO_ROBOT_FRONT = 0;
+ private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL = 0;
+ private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL = 0;
+
+ private final double DEFAULT_SPEED = 0.5;
+
+ // in inches
+ // assuming that positive angle means turning right
+ // and negative angle means turning left
+
+ // constants for position 1: low bar
+ private final double POS1_DIST1 = 109;
+ private final double POS1_TURN1 = 60;
+ private final double POS1_DIST2 = 0;
+
+ // constants for position 2
+ private final double POS2_DIST1 = 140;
+ private final double POS2_TURN1 = 60;
+ private final double POS2_DIST2 = 0;
+
+ // constants for position 3
+ private final double POS3_DIST1 = 0;
+ private final double POS3_TURN1 = 90;
+ private final double POS3_DIST2 = 35.5;
+ private final double POS3_TURN2 = -90;
+ private final double POS3_DIST3 = 0;
+
+ // constants for position 4
+ private final double POS4_DIST1 = 0;
+ private final double POS4_TURN1 = -90;
+ private final double POS4_DIST2 = 18.5;
+ private final double POS4_TURN2 = 90;
+ private final double POS4_DIST3 = 0;
+
+ // constants for position 5
+ private final double POS5_DIST1 = 0;
+ private final double POS5_TURN1 = 0;
+ private final double POS5_DIST2 = 0;
+
+ public double horizontalDistToGoal;