add constants and sequentials for position 2

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

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

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 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

  // constants for position 4

  // constants for position 5

  public AlignToScore(int position) {

    switch (position) {

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

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

    case 2:

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

    case 3:

      addSequential();

    case 4:

      addSequential();

    case 5:

      addSequential();
    }
  }
}