add auton side gear command group

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonSideGear.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonSideGear.java
new file mode 100644 (file)
index 0000000..386dfe5
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonSideGear.java
@@ -0,0 +1,62 @@
+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;
+
+/**
+ *
+ */
+public class AutonSideGear extends CommandGroup {
+
+  private static final double ROBOT_LENGTH = 36.0;
+  private static final double ROBOT_WIDTH = 40.0;
+
+  private static final double STRAIGHT_DIST_FROM_BOILER = 76.8;
+  private static final double DISTANCE_TO_RETRIEVAL_PEG = 114.3 + 17.625
+      - ((162 - (17.625 + 35.25) - 38.625) / Math.sqrt(3));
+  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_RETRIEVAL_PEG
+      * 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 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 AutonSideGear(String side) {
+    requires(Robot.getDriveTrain());
+
+    if (side.equals("BOILER")) {
+      addSequential(new DriveDistance(
+          131.6 - (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
+              - ROBOT_LENGTH / 2,
+          5));
+      addSequential(new TurnForAngle(60, Direction.RIGHT, 5));
+      addSequential(new DriveDistance(
+          2 * (94.88 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
+              - ROBOT_LENGTH / 2 + 7,
+          5));
+    } else if (side.equals("RETRIEVAL")) {
+      addSequential(new DriveDistance(
+          131.6 - (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
+              - ROBOT_LENGTH / 2,
+          5));
+      addSequential(new TurnForAngle(60, Direction.LEFT, 5));
+      addSequential(new DriveDistance(
+          2 * (93.13 - ROBOT_WIDTH / 2 - distanceFromCorner) / Math.sqrt(3)
+              - ROBOT_LENGTH / 2,
+          5));
+    }
+  }
+}