X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommandgroups%2FAutonGearThenBaselinePegCloseToBoiler.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommandgroups%2FAutonGearThenBaselinePegCloseToBoiler.java;h=6af22a452c7bfa5bc65162c5967467b0b4953776;hp=0000000000000000000000000000000000000000;hb=fca066b62b8397aed068671c3ac90e7139177467;hpb=ac77a7b890c794f807b764221ff72d9044791fab

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonGearThenBaselinePegCloseToBoiler.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonGearThenBaselinePegCloseToBoiler.java
new file mode 100644
index 0000000..6af22a4
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonGearThenBaselinePegCloseToBoiler.java
@@ -0,0 +1,101 @@
+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!!");
+    }
+  }
+}