fix stuff

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commandgroups / AutonGearThenBaselinePegCloseToBoiler.java

package org.usfirst.frc.team3501.robot.commandgroups;

import org.usfirst.frc.team3501.robot.Constants.Direction;
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 is an auton strategy to cross the baseline and put a gear on a peg
 * requires predetermined starting point anywhere except between 109.1767 inches
 * and 205.7286 inches from the right side of the arena this program chooses
 * which peg to go for based on the starting point
 */
public class AutonGearThenBaselinePegCloseToBoiler extends CommandGroup

{

  private static final double ROBOT_LENGTH = 36.0;
  private static final double ROBOT_WIDTH = 40.0;

  private static final double STRAIGHT_DIST_FROM_BOILER = 76.8;
  private static final double DISTANCE_TO_RETRIEVAL_PEG = 114.3 + 17.625
      - ((162 - (17.625 + 35.25) - 38.625) / Math.sqrt(3));
  private static final double LENGTH_OF_PEG = 10.5;
  private static final double PEG_EXTENDED_BOILER = 117.518;
  private static final double PEG_EXTENDED_RETRIEVAL_ZONE = (DISTANCE_TO_RETRIEVAL_PEG
      * 2) / Math.sqrt(3);
  private static final double DISTANCE_BETWEEN_BOILER_AND_RETRIEVAL_ZONE = 255.6765151902;
  private static final double MOTOR_VALUE_TURN = 0.5;// this is probably not
                                                     // correct
  private static final double MOTOR_VALUE_FORWARD = 0.5;// random
  double distanceFromCorner; // This is the starting point
                             // from the right side of the
                             // arena in inches (can change)

  /***
   *
   * @param side
   *          which side to start on: "BLUE" for blue side and "RED" for red
   *          side
   * @param distanceFromcorner
   *          distance from the corner of the boiler
   */
  public AutonGearThenBaselinePegCloseToBoiler(String side,
      int distanceFromcorner) {
    requires(Robot.getDriveTrain());

    if (side.equals("BOILER")) {
      addSequential(new DriveDistance(
          131.6 - (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
              - ROBOT_LENGTH / 2,
          5));
      // addSequential(new DriveDistance(
      // ((distanceFromCorner + (ROBOT_WIDTH / 2.0)) / Math.sqrt(3))
      // + STRAIGHT_DIST_FROM_BOILER - (ROBOT_LENGTH / 2.0),
      // MOTOR_VALUE_FORWARD));
      // position robot for optimal gear placement
      addSequential(new TurnForAngle(60, Direction.RIGHT, 5));
      // put gear on peg
      addSequential(new DriveDistance(
          2 * (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
              - ROBOT_LENGTH / 2 + 7,
          5));
      // addSequential(new DriveDistance(PEG_EXTENDED_BOILER
      // - (((distanceFromCorner + (ROBOT_WIDTH / 2.0)) * 2) / Math.sqrt(3))
      // - LENGTH_OF_PEG - (ROBOT_LENGTH / 2.0), MOTOR_VALUE_FORWARD));

      // does not include drift distance
    } else if (side.equals("RETRIEVAL")) {
      addSequential(new DriveDistance(
          131.6 - (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
              - ROBOT_LENGTH / 2,
          5));
      addSequential(new TurnForAngle(60, Direction.LEFT, 5));
      addSequential(new DriveDistance(
          2 * (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
              - ROBOT_LENGTH / 2,
          5));
      // addSequential(new DriveDistance(
      // ((distanceFromCorner + (ROBOT_WIDTH / 2.0)) / Math.sqrt(3))
      // + DISTANCE_TO_RETRIEVAL_PEG - (ROBOT_LENGTH / 2.0),
      // MOTOR_VALUE_FORWARD));
      // addSequential(new TurnForAngle(60, Direction.RIGHT, MOTOR_VALUE_TURN));
      // addSequential(new DriveDistance(PEG_EXTENDED_RETRIEVAL_ZONE
      // - (((distanceFromCorner + (ROBOT_LENGTH / 2.0)) / Math.sqrt(3)) * 2)
      // - LENGTH_OF_PEG - (ROBOT_LENGTH / 2.0), MOTOR_VALUE_FORWARD));
      // does not include drift distance
    }
  }
}