X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2FAlignToScore.java;h=a2f83d4233a23e8e16d0349b5ef9c1a4ee1118a4;hb=1696ae2852279093cffd17ce49f50b2be740ed66;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..a2f83d42 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -1,5 +1,7 @@
 package org.usfirst.frc.team3501.robot.commands;
 
+import org.usfirst.frc.team3501.robot.Robot;
+
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
@@ -14,20 +16,38 @@ 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
 
+  // 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) {
 
@@ -42,19 +62,36 @@ public class AlignToScore extends CommandGroup {
 
     case 2:
 
-      addSequential();
+      addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS2_TURN1));
+      addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
 
     case 3:
 
-      addSequential();
+      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));
 
     case 4:
 
-      addSequential();
+      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));
 
     case 5:
 
-      addSequential();
+      addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS5_TURN1));
+      addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
     }
   }
+
+  public static void calculatePath() {
+    double leftDistance = Robot.shooter.getLeftDistanceToTower();
+    double rightDistance = Robot.shooter.getRightDistanceToTower();
+  }
 }