fix command names and get rid of unused stuff

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / AlignToScore.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
index 5a137ace5e4319ff369bda5193f7719bfefdf77f..356c71a82c8367e18aecf5047d4ec8017887acd6 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -1,5 +1,8 @@
 package org.usfirst.frc.team3501.robot.commands;
 
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
+import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
+
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
@@ -14,20 +17,39 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  *
  */
 public class AlignToScore extends CommandGroup {
+  private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
+
   private final double DEFAULT_SPEED = 0.5;
-  // constants for position 1: low bar
+  private final double maxTimeout = 5;
 
+  // constants for position 1: low bar
   private final double POS1_DIST1 = 0;
   private final double POS1_TURN1 = 0;
   private final double POS1_DIST2 = 0;
 
   // constants for position 2
+  private final double POS2_DIST1 = 0;
+  private final double POS2_TURN1 = 0;
+  private final double POS2_DIST2 = 0;
 
   // constants for position 3
+  private final double POS3_DIST1 = 0;
+  private final double POS3_TURN1 = 0;
+  private final double POS3_DIST2 = 0;
+  private final double POS3_TURN2 = 0;
+  private final double POS3_DIST3 = 0;
 
   // constants for position 4
+  private final double POS4_DIST1 = 0;
+  private final double POS4_TURN1 = 0;
+  private final double POS4_DIST2 = 0;
+  private final double POS4_TURN2 = 0;
+  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 AlignToScore(int position) {
 
@@ -36,25 +58,37 @@ public class AlignToScore extends CommandGroup {
     // position 1 is always the low bar
     case 1:
 
-      addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS1_TURN1));
-      addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
+      addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
 
     case 2:
 
-      addSequential();
+      addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
 
     case 3:
 
-      addSequential();
+      addSequential(new DriveDistance(POS3_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS3_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS3_DIST2, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS3_TURN2, maxTimeout));
+      addSequential(new DriveDistance(POS3_DIST3, DEFAULT_SPEED));
 
     case 4:
 
-      addSequential();
+      addSequential(new DriveDistance(POS4_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS4_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS4_DIST2, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS4_TURN2, maxTimeout));
+      addSequential(new DriveDistance(POS4_DIST3, DEFAULT_SPEED));
 
     case 5:
 
-      addSequential();
+      addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
     }
   }
 }