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.Robot;
   4
   5 import edu.wpi.first.wpilibj.command.CommandGroup;
   6
   7 /**
   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.
  11  *
  12  * dependency on sensors: lidars, encoders, gyro dependency on subsystems:
  13  * drivetrain dependency on other commands: TurnForAngle(), DriveForDistance()
  14  *
  15  * pre-condition: robot is flush against a defense at the specified position in
  16  * the opponent's courtyard
  17  *
  18  * post-condition: the robot is parallel to one of the three goals and the
  19  * shooter is facing that goal
  20  *
  21  */
  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;
  26
  27   private final double DEFAULT_SPEED = 0.5;
  28
  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;
  33
  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;
  38
  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;
  45
  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;
  52
  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;
  57
  58   public double horizontalDistToGoal;
  59
  60   public AlignToScore(int position) {
  61
  62     switch (position) {
  63
  64     // position 1 is always the low bar
  65     case 1:
  66
  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;
  71
  72     case 2:
  73
  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;
  78
  79     case 3:
  80
  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;
  87
  88     case 4:
  89
  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;
  96
  97     case 5:
  98
  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;
 103     }
 104   }
 105
 106   public static double calculateAngleToTurn(int position,
 107       double horizontalDistToGoal) {
 108     double leftDist = Robot.driveTrain.getLeftLidarDistance();
 109     double rightDist = Robot.driveTrain.getRightLidarDistance();
 110
 111     double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
 112     double distToTower;
 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) {
 116       distToTower = Math
 117           .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 118           - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 119     }
 120
 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
 123     else {
 124       distToTower = Math
 125           .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 126           - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 127     }
 128
 129     double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
 130
 131     return angleToTurn;
 132   }
 133 }