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1 | package org.usfirst.frc.team3501.robot.commandgroups; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants.Direction; | |
4 | import org.usfirst.frc.team3501.robot.Robot; | |
5 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; | |
6 | import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle; | |
7 | ||
8 | import edu.wpi.first.wpilibj.command.CommandGroup; | |
9 | ||
10 | /** | |
11 | * this is an auton strategy to cross the baseline and put a gear on a peg | |
12 | * requires predetermined starting point anywhere except between 109.1767 inches | |
13 | * and 205.7286 inches from the right side of the arena this program chooses | |
14 | * which peg to go for based on the starting point | |
15 | */ | |
16 | public class AutonGearThenBaselinePegCloseToBoiler extends CommandGroup | |
17 | ||
18 | { | |
19 | ||
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20 | private static final double ROBOT_LENGTH = 36.0; |
21 | private static final double ROBOT_WIDTH = 40.0; | |
fca066b6 | 22 | |
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23 | private static final double STRAIGHT_DIST_FROM_BOILER = 76.8; |
24 | private static final double DISTANCE_TO_RETRIEVAL_PEG = 114.3 + 17.625 | |
25 | - ((162 - (17.625 + 35.25) - 38.625) / Math.sqrt(3)); | |
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26 | private static final double LENGTH_OF_PEG = 10.5; |
27 | private static final double PEG_EXTENDED_BOILER = 117.518; | |
d64e0d69 | 28 | private static final double PEG_EXTENDED_RETRIEVAL_ZONE = (DISTANCE_TO_RETRIEVAL_PEG |
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29 | * 2) / Math.sqrt(3); |
30 | private static final double DISTANCE_BETWEEN_BOILER_AND_RETRIEVAL_ZONE = 255.6765151902; | |
31 | private static final double MOTOR_VALUE_TURN = 0.5;// this is probably not | |
32 | // correct | |
33 | private static final double MOTOR_VALUE_FORWARD = 0.5;// random | |
34 | double distanceFromCorner; // This is the starting point | |
35 | // from the right side of the | |
36 | // arena in inches (can change) | |
37 | ||
38 | /*** | |
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39 | * |
40 | * @param side | |
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41 | * which side to start on: "BLUE" for blue side and "RED" for red |
42 | * side | |
d64e0d69 | 43 | * @param distanceFromcorner |
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44 | * distance from the corner of the boiler |
45 | */ | |
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46 | public AutonGearThenBaselinePegCloseToBoiler(String side, |
47 | int distanceFromcorner) { | |
fca066b6 | 48 | requires(Robot.getDriveTrain()); |
fca066b6 | 49 | |
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50 | if (side.equals("BOILER")) { |
51 | addSequential(new DriveDistance( | |
52 | 131.6 - (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3) | |
53 | - ROBOT_LENGTH / 2, | |
54 | 5)); | |
55 | // addSequential(new DriveDistance( | |
56 | // ((distanceFromCorner + (ROBOT_WIDTH / 2.0)) / Math.sqrt(3)) | |
57 | // + STRAIGHT_DIST_FROM_BOILER - (ROBOT_LENGTH / 2.0), | |
58 | // MOTOR_VALUE_FORWARD)); | |
fca066b6 | 59 | // position robot for optimal gear placement |
d64e0d69 | 60 | addSequential(new TurnForAngle(60, Direction.RIGHT, 5)); |
fca066b6 | 61 | // put gear on peg |
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62 | addSequential(new DriveDistance( |
63 | 2 * (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3) | |
64 | - ROBOT_LENGTH / 2 + 7, | |
65 | 5)); | |
66 | // addSequential(new DriveDistance(PEG_EXTENDED_BOILER | |
67 | // - (((distanceFromCorner + (ROBOT_WIDTH / 2.0)) * 2) / Math.sqrt(3)) | |
68 | // - LENGTH_OF_PEG - (ROBOT_LENGTH / 2.0), MOTOR_VALUE_FORWARD)); | |
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69 | |
70 | // does not include drift distance | |
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71 | } else if (side.equals("RETRIEVAL")) { |
72 | addSequential(new DriveDistance( | |
73 | 131.6 - (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3) | |
74 | - ROBOT_LENGTH / 2, | |
75 | 5)); | |
76 | addSequential(new TurnForAngle(60, Direction.LEFT, 5)); | |
77 | addSequential(new DriveDistance( | |
78 | 2 * (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3) | |
79 | - ROBOT_LENGTH / 2, | |
80 | 5)); | |
81 | // addSequential(new DriveDistance( | |
82 | // ((distanceFromCorner + (ROBOT_WIDTH / 2.0)) / Math.sqrt(3)) | |
83 | // + DISTANCE_TO_RETRIEVAL_PEG - (ROBOT_LENGTH / 2.0), | |
84 | // MOTOR_VALUE_FORWARD)); | |
85 | // addSequential(new TurnForAngle(60, Direction.RIGHT, MOTOR_VALUE_TURN)); | |
86 | // addSequential(new DriveDistance(PEG_EXTENDED_RETRIEVAL_ZONE | |
87 | // - (((distanceFromCorner + (ROBOT_LENGTH / 2.0)) / Math.sqrt(3)) * 2) | |
88 | // - LENGTH_OF_PEG - (ROBOT_LENGTH / 2.0), MOTOR_VALUE_FORWARD)); | |
fca066b6 | 89 | // does not include drift distance |
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90 | } |
91 | } | |
92 | } |