X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2FAlignToScore.java;h=356c71a82c8367e18aecf5047d4ec8017887acd6;hb=f11e620060e9ff7062b4409bbc4f14bb5bcf2e9d;hp=e5550cb18a1e8512a8be83734cc4e4a7000fb956;hpb=1598df61294ce7a8471984e92c8ac04cd4cb5755;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 e5550cb1..356c71a8 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java +++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java @@ -1,19 +1,13 @@ 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 @@ -23,121 +17,78 @@ 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; - - // 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; } }