From: AyushNigade <techiedude23@gmail.com>
Date: Thu, 9 Feb 2017 03:40:52 +0000 (-0800)
Subject: Cleaning up off comments and clean up code
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=commitdiff_plain;h=e6e87119464c6c595e53fa3aeb1213544cf1fd23

Cleaning up off comments and clean up code
---

diff --git a/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
new file mode 100644
index 0000000..bd718b3
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commandgroups/AutonMiddleGear.java
@@ -0,0 +1,53 @@
+
+package org.usfirst.frc.team3501.robot.commandgroups;
+
+import org.usfirst.frc.team3501.robot.Constants.Direction;
+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;
+
+/**
+ *
+ * Authors Ayush, Nadia, Aziza and Abhinav
+ *
+ * This comandGroup, PlaceGearOnMiddlePeg is expected to have the robot start
+ * from the middle of the starting line, right in front of the airship. The
+ * robot will drive forward and place the gear on the peg. Then, the robot will
+ * drive backwards, turn left, drive forward, turn right, and drive forward
+ * again to cross the baseline.
+ */
+public class AutonMiddleGear extends CommandGroup {
+  private static final double DISTANCE_TO_PEG = 91.3;
+  private static final double DISTANCE_TO_BACK_OUT = 29.75;
+  private static final double THIRD_DISTANCE_TO_TRAVEL = 70;
+  private static final double DISTANCE_TO_BASELINE = 50.5;
+
+  private static final double ANGLE_TO_TURN = 90;
+
+  private static final double maxTimeOut = 7;
+
+  /***
+   * This auton command group places the gear on the middle peg then crosses the
+   * baseline
+   *
+   * @param direction
+   *          direction to turn after placing gear on peg in order to cross the
+   *          baseline. Only Direction.LEFT and Direction.RIGHT will be accepted
+   */
+  public AutonMiddleGear(Direction direction) {
+    addSequential(new DriveDistance(DISTANCE_TO_PEG, maxTimeOut));
+    addSequential(new DriveDistance(DISTANCE_TO_BACK_OUT, maxTimeOut));
+    addSequential(new TurnForAngle(ANGLE_TO_TURN, direction, maxTimeOut));
+    addSequential(new DriveDistance(THIRD_DISTANCE_TO_TRAVEL, maxTimeOut));
+    addSequential(
+        new TurnForAngle(ANGLE_TO_TURN, oppositeOf(direction), maxTimeOut));
+    addSequential(new DriveDistance(DISTANCE_TO_BASELINE, maxTimeOut));
+  }
+
+  private Direction oppositeOf(Direction direction) {
+    if (direction == Direction.LEFT)
+      return Direction.RIGHT;
+    return Direction.LEFT;
+  }
+}