1 package org
.usfirst
.frc
.team3501
.robot
.commands
;
3 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
5 import edu
.wpi
.first
.wpilibj
.command
.CommandGroup
;
8 * This command group will be used in autonomous. Based on what position the
9 * robot is in, the robot will align with the goal. In the Software 2015-2016
10 * Google folder is a picture explaining each of the cases.
12 * dependency on sensors: lidars, encoders, gyro dependency on subsystems:
13 * drivetrain dependency on other commands: TurnForAngle(), DriveForDistance()
15 * pre-condition: robot is flush against a defense at the specified position in
16 * the opponent's courtyard
18 * post-condition: the robot is parallel to one of the three goals and the
19 * shooter is facing that goal
22 public class AlignToScore
extends CommandGroup
{
23 private final static double CENTER_OF_MASS_TO_ROBOT_FRONT
= 0;
24 private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL
= 0;
25 private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL
= 0;
27 private final double DEFAULT_SPEED
= 0.5;
29 // constants for position 1: low bar
30 private final double POS1_DIST1
= 0;
31 private final double POS1_TURN1
= 0;
32 private final double POS1_DIST2
= 0;
34 // constants for position 2
35 private final double POS2_DIST1
= 0;
36 private final double POS2_TURN1
= 0;
37 private final double POS2_DIST2
= 0;
39 // constants for position 3
40 private final double POS3_DIST1
= 0;
41 private final double POS3_TURN1
= 0;
42 private final double POS3_DIST2
= 0;
43 private final double POS3_TURN2
= 0;
44 private final double POS3_DIST3
= 0;
46 // constants for position 4
47 private final double POS4_DIST1
= 0;
48 private final double POS4_TURN1
= 0;
49 private final double POS4_DIST2
= 0;
50 private final double POS4_TURN2
= 0;
51 private final double POS4_DIST3
= 0;
53 // constants for position 5
54 private final double POS5_DIST1
= 0;
55 private final double POS5_TURN1
= 0;
56 private final double POS5_DIST2
= 0;
58 public double horizontalDistToGoal
;
60 public AlignToScore(int position
) {
64 // position 1 is always the low bar
67 addSequential(new DriveForDistance(POS1_DIST1
, DEFAULT_SPEED
));
68 addSequential(new TurnForAngle(POS1_TURN1
));
69 addSequential(new DriveForDistance(POS1_DIST2
, DEFAULT_SPEED
));
70 horizontalDistToGoal
= 0;
74 addSequential(new DriveForDistance(POS2_DIST1
, DEFAULT_SPEED
));
75 addSequential(new TurnForAngle(POS2_TURN1
));
76 addSequential(new DriveForDistance(POS2_DIST2
, DEFAULT_SPEED
));
77 horizontalDistToGoal
= 0;
81 addSequential(new DriveForDistance(POS3_DIST1
, DEFAULT_SPEED
));
82 addSequential(new TurnForAngle(POS3_TURN1
));
83 addSequential(new DriveForDistance(POS3_DIST2
, DEFAULT_SPEED
));
84 addSequential(new TurnForAngle(POS3_TURN2
));
85 addSequential(new DriveForDistance(POS3_DIST3
, DEFAULT_SPEED
));
86 horizontalDistToGoal
= 0;
90 addSequential(new DriveForDistance(POS4_DIST1
, DEFAULT_SPEED
));
91 addSequential(new TurnForAngle(POS4_TURN1
));
92 addSequential(new DriveForDistance(POS4_DIST2
, DEFAULT_SPEED
));
93 addSequential(new TurnForAngle(POS4_TURN2
));
94 addSequential(new DriveForDistance(POS4_DIST3
, DEFAULT_SPEED
));
95 horizontalDistToGoal
= 0;
99 addSequential(new DriveForDistance(POS5_DIST1
, DEFAULT_SPEED
));
100 addSequential(new TurnForAngle(POS5_TURN1
));
101 addSequential(new DriveForDistance(POS5_DIST2
, DEFAULT_SPEED
));
102 horizontalDistToGoal
= 0;
106 public static double calculateAngleToTurn(int position
,
107 double horizontalDistToGoal
) {
108 double leftDist
= Robot
.driveTrain
.getLeftLidarDistance();
109 double rightDist
= Robot
.driveTrain
.getRightLidarDistance();
111 double errorAngle
= Math
.atan(Math
.abs(leftDist
- rightDist
) / 2);
113 // TODO: figure out if we do want to shoot into the side goal if we are
114 // in position 1 or 2, or if we want to change that
115 if (position
== 1 || position
== 2) {
117 .cos(CENTER_OF_MASS_TO_ROBOT_FRONT
+ (leftDist
- rightDist
) / 2)
118 - DIST_CASTLE_WALL_TO_SIDE_GOAL
;
121 // TODO: figure out if we do want to shoot into the font goal if we are
122 // in position 3, 4, 5, or if we want to change that
125 .cos(CENTER_OF_MASS_TO_ROBOT_FRONT
+ (leftDist
- rightDist
) / 2)
126 - DIST_CASTLE_WALL_TO_SIDE_GOAL
;
129 double angleToTurn
= Math
.atan(distToTower
/ horizontalDistToGoal
);