add skeleton code for calculating angle to turn for shooting

[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
 *
 * 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 double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;

  private final double DEFAULT_SPEED = 0.5;

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

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

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

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

  // constants for position 5
  private final double POS5_DIST1 = 0;
  private final double POS5_TURN1 = 0;
  private final double POS5_DIST2 = 0;

  public AlignToScore(int position) {

    switch (position) {

    // position 1 is always the low bar
    case 1:

      addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS1_TURN1));
      addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));

    case 2:

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

    case 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));

    case 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));

    case 5:

      addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
      addSequential(new TurnForAngle(POS5_TURN1));
      addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
    }
  }

  public static void calculatePath() {
    double leftDistance = Robot.shooter.getLeftDistanceToTower();
    double rightDistance = Robot.shooter.getRightDistanceToTower();
  }
}