X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2FAlignToScore.java;h=0d286e38c5770a546a1e261cd56d5cd18c1b431f;hb=af279fe0f16dd39c9c36e27d018d78dfa7bfc70a;hp=5a137ace5e4319ff369bda5193f7719bfefdf77f;hpb=5e1e9b1e608732cc9260a323af51f4d1d69a17ee;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
index 5a137ace..0d286e38 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -1,10 +1,19 @@
 package org.usfirst.frc.team3501.robot.commands;
 
+import org.usfirst.frc.team3501.robot.Robot;
+
 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
+ * 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()
  *
  * pre-condition: robot is flush against a defense at the specified position in
  * the opponent's courtyard
@@ -14,47 +23,116 @@ 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 DEFAULT_SPEED = 0.5;
-  // constants for position 1: low bar
 
-  private final double POS1_DIST1 = 0;
-  private final double POS1_TURN1 = 0;
+  // 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;
 
   public AlignToScore(int position) {
 
-    switch (position) {
+    if (position == 1) {
 
-    // position 1 is always the low bar
-    case 1:
+      // position 1 is always the low bar
 
       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) {
+
+      addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS2_TURN1));
+      addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
+
+    } else if (position == 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;
+
+    } else if (position == 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;
+
+    } else if (position == 5) {
+
+      addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS5_TURN1));
+      addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
+    }
+  }
 
-    case 2:
-
-      addSequential();
-
-    case 3:
-
-      addSequential();
-
-    case 4:
+  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;
+    }
 
-      addSequential();
+    // 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;
+    }
 
-    case 5:
+    double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
 
-      addSequential();
-    }
+    return angleToTurn;
   }
 }