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competition fixes
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commandgroups
/
AutonSideGear.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonSideGear.java
b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonSideGear.java
index 386dfe598711dc7a2c8456e9cb869f80ea3035bb..70f7226857e3ef835dbdc1396ee8f4c7de3d8959 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commandgroups/AutonSideGear.java
+++ b/
src/org/usfirst/frc/team3501/robot/commandgroups/AutonSideGear.java
@@
-34,7
+34,7
@@
public class AutonSideGear extends CommandGroup {
* 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
*/
* 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 AutonSideGear(String side) {
+ public AutonSideGear(String
team, String
side) {
requires(Robot.getDriveTrain());
if (side.equals("BOILER")) {
requires(Robot.getDriveTrain());
if (side.equals("BOILER")) {
@@
-42,7
+42,12
@@
public class AutonSideGear extends CommandGroup {
131.6 - (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
- ROBOT_LENGTH / 2,
5));
131.6 - (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
- ROBOT_LENGTH / 2,
5));
- addSequential(new TurnForAngle(60, Direction.RIGHT, 5));
+
+ if (team.equals("RED"))
+ addSequential(new TurnForAngle(60, Direction.LEFT, 5));
+ else if (team.equals("BLUE"))
+ addSequential(new TurnForAngle(60, Direction.RIGHT, 5));
+
addSequential(new DriveDistance(
2 * (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
- ROBOT_LENGTH / 2 + 7,
addSequential(new DriveDistance(
2 * (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
- ROBOT_LENGTH / 2 + 7,
@@
-52,7
+57,12
@@
public class AutonSideGear extends CommandGroup {
131.6 - (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
- ROBOT_LENGTH / 2,
5));
131.6 - (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
- ROBOT_LENGTH / 2,
5));
- addSequential(new TurnForAngle(60, Direction.LEFT, 5));
+
+ if (team.equals("RED"))
+ addSequential(new TurnForAngle(60, Direction.RIGHT, 5));
+ else if (team.equals("BLUE"))
+ addSequential(new TurnForAngle(60, Direction.LEFT, 5));
+
addSequential(new DriveDistance(
2 * (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
- ROBOT_LENGTH / 2,
addSequential(new DriveDistance(
2 * (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
- ROBOT_LENGTH / 2,