first commit

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

  private static final double DISTANCE_TO_PEG_EXTENDED_BOILER = 73.1657;
  private static final double DISTANCE_TO_PEG_EXTENDED_RETRIEVAL_ZONE = 114.3
      + 17.625 - ((162 - (17.625 + 35.25) - 38.625) / Math.sqrt(3));
  private static final double FIRST_LIMIT_LENGTH = 75.649;
  private static final double SECOND_LIMIT_LENGTH = 162.8289106736;
  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_PEG_EXTENDED_RETRIEVAL_ZONE
      * 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 team
   *          which side to start on: "BLUE" for blue side and "RED" for red
   *          side
   * @param distanceFromBoilerCorner
   *          distance from the corner of the boiler
   */
  public AutonGearThenBaselinePegCloseToBoiler(String team,
      int distanceFromBoilerCorner) {

    this.distanceFromCorner = distanceFromBoilerCorner;
    requires(Robot.getDriveTrain());
    if (distanceFromBoilerCorner >= 0
        && distanceFromBoilerCorner < FIRST_LIMIT_LENGTH) {
      // boiler peg path

      // drive straight into extended line of peg
      addSequential(
          new DriveDistance(
              ((distanceFromCorner + (ROBOT_WIDTH / 2.0)) / Math.sqrt(3))
                  + DISTANCE_TO_PEG_EXTENDED_BOILER - (ROBOT_LENGTH / 2.0),
              MOTOR_VALUE_FORWARD));
      // position robot for optimal gear placement
      addSequential(new TurnForAngle(60, Direction.LEFT, MOTOR_VALUE_TURN));
      // put gear on peg
      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 (distanceFromBoilerCorner > SECOND_LIMIT_LENGTH
        && distanceFromBoilerCorner <= DISTANCE_BETWEEN_BOILER_AND_RETRIEVAL_ZONE) // mirror
                                                                                   // of
                                                                                   // right
                                                                                   // peg
                                                                                   // path
    {
      this.distanceFromCorner = DISTANCE_BETWEEN_BOILER_AND_RETRIEVAL_ZONE
          - distanceFromBoilerCorner;
      // Turning DISTANCE_FROM_BOILER_WALL into starting point from left side by
      // reversing it
      addSequential(
          new DriveDistance(
              ((distanceFromCorner + (ROBOT_WIDTH / 2.0)) / Math.sqrt(3))
                  + DISTANCE_TO_PEG_EXTENDED_RETRIEVAL_ZONE
                  - (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
    } else {
      System.out.println(
          "DO NOT START HERE!!! MOVE CLOSER TO A WALL OR LOSE ALL AUTON POINTS!!");
    }
  }
}