| 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 | * |
| 12 | */ |
| 13 | public class AutonSideGear extends CommandGroup { |
| 14 | |
| 15 | private static final double ROBOT_LENGTH = 36.0; |
| 16 | private static final double ROBOT_WIDTH = 40.0; |
| 17 | |
| 18 | private static final double STRAIGHT_DIST_FROM_BOILER = 76.8; |
| 19 | private static final double DISTANCE_TO_RETRIEVAL_PEG = 114.3 + 17.625 |
| 20 | - ((162 - (17.625 + 35.25) - 38.625) / Math.sqrt(3)); |
| 21 | private static final double LENGTH_OF_PEG = 10.5; |
| 22 | private static final double PEG_EXTENDED_BOILER = 117.518; |
| 23 | private static final double PEG_EXTENDED_RETRIEVAL_ZONE = (DISTANCE_TO_RETRIEVAL_PEG |
| 24 | * 2) / Math.sqrt(3); |
| 25 | private static final double DISTANCE_BETWEEN_BOILER_AND_RETRIEVAL_ZONE = 255.6765151902; |
| 26 | private static final double MOTOR_VALUE_TURN = 0.5;// this is probably not |
| 27 | // correct |
| 28 | private static final double MOTOR_VALUE_FORWARD = 0.5;// random |
| 29 | double distanceFromCorner; |
| 30 | |
| 31 | /** |
| 32 | * this is an auton strategy to cross the baseline and put a gear on a peg |
| 33 | * requires predetermined starting point anywhere except between 109.1767 |
| 34 | * inches and 205.7286 inches from the right side of the arena this program |
| 35 | * chooses which peg to go for based on the starting point |
| 36 | */ |
| 37 | public AutonSideGear(String team, String side) { |
| 38 | requires(Robot.getDriveTrain()); |
| 39 | |
| 40 | if (side.equals("BOILER")) { |
| 41 | addSequential(new DriveDistance( |
| 42 | 131.6 - (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3) |
| 43 | - ROBOT_LENGTH / 2, |
| 44 | 5)); |
| 45 | |
| 46 | if (team.equals("RED")) |
| 47 | addSequential(new TurnForAngle(60, Direction.LEFT, 5)); |
| 48 | else if (team.equals("BLUE")) |
| 49 | addSequential(new TurnForAngle(60, Direction.RIGHT, 5)); |
| 50 | |
| 51 | addSequential(new DriveDistance( |
| 52 | 2 * (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3) |
| 53 | - ROBOT_LENGTH / 2 + 7, |
| 54 | 5)); |
| 55 | } else if (side.equals("RETRIEVAL")) { |
| 56 | addSequential(new DriveDistance( |
| 57 | 131.6 - (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3) |
| 58 | - ROBOT_LENGTH / 2, |
| 59 | 5)); |
| 60 | |
| 61 | if (team.equals("RED")) |
| 62 | addSequential(new TurnForAngle(60, Direction.RIGHT, 5)); |
| 63 | else if (team.equals("BLUE")) |
| 64 | addSequential(new TurnForAngle(60, Direction.LEFT, 5)); |
| 65 | |
| 66 | addSequential(new DriveDistance( |
| 67 | 2 * (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3) |
| 68 | - ROBOT_LENGTH / 2, |
| 69 | 5)); |
| 70 | } |
| 71 | } |
| 72 | } |