change position 5 to shoot in middle goal

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / AlignToScore.java

package org.usfirst.frc.team3501.robot.commands;

import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.command.CommandGroup;

/**
 * This command group will be used in autonomous. Based on what position the
 * robot is in, the robot will align with the goal. In the Software 2015-2016
 * Google folder is a picture explaining each of the cases.
 *
 * dependency on sensors: lidars, encoders, gyro
 *
 * dependency on subsystems: drivetrain
 *
 * dependency on other commands: TurnForAngle(), DriveForDistance()
 *
 * pre-condition: robot is flush against a defense at the specified position in
 * the opponent's courtyard
 *
 * post-condition: the robot is parallel to one of the three goals and the
 * shooter is facing that goal
 *
 */
public class AlignToScore extends CommandGroup {
  private final static double CENTER_OF_MASS_TO_ROBOT_FRONT = 0;
  private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL = 0;
  private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL = 0;

  private final double DEFAULT_SPEED = 0.5;

  // in inches
  // assuming that positive angle means turning right
  // and negative angle means turning left

  // constants for position 1: low bar
  private final double POS1_DIST1 = 109;
  private final double POS1_TURN1 = 60;
  private final double POS1_DIST2 = 0;

  // constants for position 2
  private final double POS2_DIST1 = 140;
  private final double POS2_TURN1 = 60;
  private final double POS2_DIST2 = 0;

  // constants for position 3
  private final double POS3_DIST1 = 0;
  private final double POS3_TURN1 = 90;
  private final double POS3_DIST2 = 35.5;
  private final double POS3_TURN2 = -90;
  private final double POS3_DIST3 = 0;

  // constants for position 4
  private final double POS4_DIST1 = 0;
  private final double POS4_TURN1 = -90;
  private final double POS4_DIST2 = 18.5;
  private final double POS4_TURN2 = 90;
  private final double POS4_DIST3 = 0;

  // constants for position 5
  private final double POS5_DIST1 = 0;
  private final double POS5_TURN1 = -90;
  private final double POS5_DIST2 = 72.5;
  private final double POS5_TURN2 = 90;
  private final double POS5_DIST3 = 0;

  public double horizontalDistToGoal;

  public AlignToScore(int position) {

    if (position == 1) {

      // position 1 is always the low bar

      addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS1_TURN1));
      addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
      horizontalDistToGoal = 0;
    } else if (position == 2) {

      addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS2_TURN1));
      addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
      horizontalDistToGoal = 0;

    } else if (position == 3) {

      addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS3_TURN1));
      addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS3_TURN2));
      addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
      horizontalDistToGoal = 0;

    } else if (position == 4) {

      addSequential(new DriveForDistance(POS4_DIST1, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS4_TURN1));
      addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS4_TURN2));
      addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED));
      horizontalDistToGoal = 0;

    } else if (position == 5) {

      addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS5_TURN1));
      addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS5_TURN2));
      addSequential(new DriveForDistance(POS5_DIST3, DEFAULT_SPEED));
      horizontalDistToGoal = 0;

    }
  }

  public static double lidarCalculateAngleToTurn(int position,
      double horizontalDistToGoal) {
    double leftDist = Robot.driveTrain.getLeftLidarDistance();
    double rightDist = Robot.driveTrain.getRightLidarDistance();

    double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
    double distToTower;
    // TODO: figure out if we do want to shoot into the side goal if we are
    // in position 1 or 2, or if we want to change that
    if (position == 1 || position == 2) {
      distToTower = Math
          .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
          - DIST_CASTLE_WALL_TO_SIDE_GOAL;
    }

    // TODO: figure out if we do want to shoot into the font goal if we are
    // in position 3, 4, 5, or if we want to change that
    else {
      distToTower = Math
          .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
          - DIST_CASTLE_WALL_TO_SIDE_GOAL;
    }

    double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);

    return angleToTurn;
  }
}