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
11 * pre-condition: robot is flush against a defense at the specified position in
12 * the opponent's courtyard
14 * post-condition: the robot is parallel to one of the three goals and the
15 * shooter is facing that goal
18 public class AlignToScore
extends CommandGroup
{
19 private final static double CENTER_OF_MASS_TO_ROBOT_FRONT
= 0;
20 private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL
= 0;
21 private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL
= 0;
23 private final double DEFAULT_SPEED
= 0.5;
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;
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;
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;
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;
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;
54 public double horizontalDistToGoal
;
56 public AlignToScore(int position
) {
60 // position 1 is always the low bar
63 addSequential(new DriveForDistance(POS1_DIST1
, DEFAULT_SPEED
));
64 addSequential(new TurnForAngle(POS1_TURN1
));
65 addSequential(new DriveForDistance(POS1_DIST2
, DEFAULT_SPEED
));
66 horizontalDistToGoal
= 0;
70 addSequential(new DriveForDistance(POS2_DIST1
, DEFAULT_SPEED
));
71 addSequential(new TurnForAngle(POS2_TURN1
));
72 addSequential(new DriveForDistance(POS2_DIST2
, DEFAULT_SPEED
));
73 horizontalDistToGoal
= 0;
77 addSequential(new DriveForDistance(POS3_DIST1
, DEFAULT_SPEED
));
78 addSequential(new TurnForAngle(POS3_TURN1
));
79 addSequential(new DriveForDistance(POS3_DIST2
, DEFAULT_SPEED
));
80 addSequential(new TurnForAngle(POS3_TURN2
));
81 addSequential(new DriveForDistance(POS3_DIST3
, DEFAULT_SPEED
));
82 horizontalDistToGoal
= 0;
86 addSequential(new DriveForDistance(POS4_DIST1
, DEFAULT_SPEED
));
87 addSequential(new TurnForAngle(POS4_TURN1
));
88 addSequential(new DriveForDistance(POS4_DIST2
, DEFAULT_SPEED
));
89 addSequential(new TurnForAngle(POS4_TURN2
));
90 addSequential(new DriveForDistance(POS4_DIST3
, DEFAULT_SPEED
));
91 horizontalDistToGoal
= 0;
95 addSequential(new DriveForDistance(POS5_DIST1
, DEFAULT_SPEED
));
96 addSequential(new TurnForAngle(POS5_TURN1
));
97 addSequential(new DriveForDistance(POS5_DIST2
, DEFAULT_SPEED
));
98 horizontalDistToGoal
= 0;
102 public static double calculatePath(int position
,
103 double horizontalDistToGoal
) {
104 double leftDist
= Robot
.driveTrain
.getLeftLidarDistance();
105 double rightDist
= Robot
.driveTrain
.getRightLidarDistance();
107 double errorAngle
= Math
.atan(Math
.abs(leftDist
- rightDist
) / 2);
109 // TODO: figure out if we do want to shoot into the side goal if we are
110 // in position 1 or 2, or if we want to change that
111 if (position
== 1 || position
== 2) {
113 .cos(CENTER_OF_MASS_TO_ROBOT_FRONT
+ (leftDist
- rightDist
) / 2)
114 - DIST_CASTLE_WALL_TO_SIDE_GOAL
;
117 // TODO: figure out if we do want to shoot into the font goal if we are
118 // in position 3, 4, 5, or if we want to change that
121 .cos(CENTER_OF_MASS_TO_ROBOT_FRONT
+ (leftDist
- rightDist
) / 2)
122 - DIST_CASTLE_WALL_TO_SIDE_GOAL
;
125 double angleToTurn
= Math
.atan(distToTower
/ horizontalDistToGoal
);