challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java

   1 package org.usfirst.frc.team3501.robot.commands;
   2
   3 import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
   4 import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
   5
   6 import edu.wpi.first.wpilibj.command.CommandGroup;
   7
   8 /**
   9  * This command group will be used in autonomous. Based on what position the
  10  * robot is in, the robot will align with the goal
  11  *
  12  * pre-condition: robot is flush against a defense at the specified position in
  13  * the opponent's courtyard
  14  *
  15  * post-condition: the robot is parallel to one of the three goals and the
  16  * shooter is facing that goal
  17  *
  18  */
  19 public class AlignToScore extends CommandGroup {
  20   private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
  21
  22   private final double DEFAULT_SPEED = 0.5;
  23   private final double maxTimeout = 5;
  24
  25   // constants for position 1: low bar
  26   private final double POS1_DIST1 = 0;
  27   private final double POS1_TURN1 = 0;
  28   private final double POS1_DIST2 = 0;
  29
  30   // constants for position 2
  31   private final double POS2_DIST1 = 0;
  32   private final double POS2_TURN1 = 0;
  33   private final double POS2_DIST2 = 0;
  34
  35   // constants for position 3
  36   private final double POS3_DIST1 = 0;
  37   private final double POS3_TURN1 = 0;
  38   private final double POS3_DIST2 = 0;
  39   private final double POS3_TURN2 = 0;
  40   private final double POS3_DIST3 = 0;
  41
  42   // constants for position 4
  43   private final double POS4_DIST1 = 0;
  44   private final double POS4_TURN1 = 0;
  45   private final double POS4_DIST2 = 0;
  46   private final double POS4_TURN2 = 0;
  47   private final double POS4_DIST3 = 0;
  48
  49   // constants for position 5
  50   private final double POS5_DIST1 = 0;
  51   private final double POS5_TURN1 = 0;
  52   private final double POS5_DIST2 = 0;
  53
  54   public AlignToScore(int position) {
  55
  56     switch (position) {
  57
  58     // position 1 is always the low bar
  59     case 1:
  60
  61       addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED));
  62       addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
  63       addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
  64
  65     case 2:
  66
  67       addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
  68       addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
  69       addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
  70
  71     case 3:
  72
  73       addSequential(new DriveDistance(POS3_DIST1, DEFAULT_SPEED));
  74       addSequential(new TurnForAngle(POS3_TURN1, maxTimeout));
  75       addSequential(new DriveDistance(POS3_DIST2, DEFAULT_SPEED));
  76       addSequential(new TurnForAngle(POS3_TURN2, maxTimeout));
  77       addSequential(new DriveDistance(POS3_DIST3, DEFAULT_SPEED));
  78
  79     case 4:
  80
  81       addSequential(new DriveDistance(POS4_DIST1, DEFAULT_SPEED));
  82       addSequential(new TurnForAngle(POS4_TURN1, maxTimeout));
  83       addSequential(new DriveDistance(POS4_DIST2, DEFAULT_SPEED));
  84       addSequential(new TurnForAngle(POS4_TURN2, maxTimeout));
  85       addSequential(new DriveDistance(POS4_DIST3, DEFAULT_SPEED));
  86
  87     case 5:
  88
  89       addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
  90       addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
  91       addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
  92     }
  93   }
  94 }