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 97b8ad2cf541d52f7a25c9295d278cac5c1e829e..356c71a82c8367e18aecf5047d4ec8017887acd6 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.commands;
 
-import org.usfirst.frc.team3501.robot.Robot;
+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;
 
@@ -16,11 +17,10 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  *
  */
 public class AlignToScore extends CommandGroup {
-  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 DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
 
   private final double DEFAULT_SPEED = 0.5;
+  private final double maxTimeout = 5;
 
   // constants for position 1: low bar
   private final double POS1_DIST1 = 0;
@@ -51,8 +51,6 @@ public class AlignToScore extends CommandGroup {
   private final double POS5_TURN1 = 0;
   private final double POS5_DIST2 = 0;
 
-  public double horizontalDistToGoal;
-
   public AlignToScore(int position) {
 
     switch (position) {
@@ -60,70 +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));
-      horizontalDistToGoal = 0;
+      addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
 
     case 2:
 
-      addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS2_TURN1));
-      addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
+      addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
 
     case 3:
 
-      addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS3_TURN1));
-      addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS3_TURN2));
-      addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
+      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(new DriveForDistance(POS4_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS4_TURN1));
-      addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS4_TURN2));
-      addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
+      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(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS5_TURN1));
-      addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-    }
-  }
-
-  public static double calculatePath(int position,
-      double horizontalDistToGoal) {
-    double leftDist = Robot.driveTrain.getLeftLidarDistance();
-    double rightDist = Robot.driveTrain.getRightLidarDistance();
-
-    double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
-    double distToTower;
-    // TODO: figure out if we do want to shoot into the side goal if we are
-    // in position 1 or 2, or if we want to change that
-    if (position == 1 || position == 2) {
-      distToTower = Math
-          .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
-          - DIST_CASTLE_WALL_TO_SIDE_GOAL;
+      addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
     }
-
-    // TODO: figure out if we do want to shoot into the font goal if we are
-    // in position 3, 4, 5, or if we want to change that
-    else {
-      distToTower = Math
-          .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
-          - DIST_CASTLE_WALL_TO_SIDE_GOAL;
-    }
-
-    double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
-
-    return angleToTurn;
   }
 }