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;
/**
* This command group will be used in autonomous. Based on what position the
- * robot is in, the robot will align with the goal. In the Software 2015-2016
- * Google folder is a picture explaining each of the cases.
- *
- * dependency on sensors: lidars, encoders, gyro
- *
- * dependency on subsystems: drivetrain
- *
- * dependency on other commands: TurnForAngle(), DriveForDistance()
+ * robot is in, the robot will align with the goal
*
* pre-condition: robot is flush against a defense at the specified position in
* the opponent's courtyard
*
*/
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;
-
- // in inches
- // assuming that positive angle means turning right
- // and negative angle means turning left
+ private final double maxTimeout = 5;
// constants for position 1: low bar
- private final double POS1_DIST1 = 109;
- private final double POS1_TURN1 = 60;
+ 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 = 140;
- private final double POS2_TURN1 = 60;
+ 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 = 90;
- private final double POS3_DIST2 = 35.5;
- private final double POS3_TURN2 = -90;
+ 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 = -90;
- private final double POS4_DIST2 = 18.5;
- private final double POS4_TURN2 = 90;
+ 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 = -90;
- private final double POS5_DIST2 = 72.5;
- private final double POS5_TURN2 = 90;
- private final double POS5_DIST3 = 0;
-
- public double horizontalDistToGoal;
+ private final double POS5_TURN1 = 0;
+ private final double POS5_DIST2 = 0;
public AlignToScore(int position) {
- if (position == 1) {
-
- // position 1 is always the low bar
+ switch (position) {
- addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
- addSequential(new TurnForAngle(POS1_TURN1));
- addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
- horizontalDistToGoal = 0;
- } else if (position == 2) {
+ // position 1 is always the low bar
+ case 1:
- addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
- addSequential(new TurnForAngle(POS2_TURN1));
- addSequential(new DriveForDistance(POS2_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));
- } else if (position == 3) {
+ case 2:
- 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(POS2_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
+ addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
- } else if (position == 4) {
+ case 3:
- 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(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));
- } else if (position == 5) {
+ case 4:
- addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
- addSequential(new TurnForAngle(POS5_TURN1));
- addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
- addSequential(new TurnForAngle(POS5_TURN2));
- addSequential(new DriveForDistance(POS5_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));
- }
- }
-
- public static double lidarCalculateAngleToTurn(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;
- }
+ case 5:
- // 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;
+ addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
+ addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
}
-
- double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
-
- return angleToTurn;
}
}
projects / 3501 / stronghold-2016 / blobdiff