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
  10  *
  11  * pre-condition: robot is flush against a defense at the specified position in
  12  * the opponent's courtyard
  13  *
  14  * post-condition: the robot is parallel to one of the three goals and the
  15  * shooter is facing that goal
  16  *
  17  */
  18 public class AlignToScore extends CommandGroup {
  19   private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
  20
  21   private final double DEFAULT_SPEED = 0.5;
  22
  23   // constants for position 1: low bar
  24   private final double POS1_DIST1 = 0;
  25   private final double POS1_TURN1 = 0;
  26   private final double POS1_DIST2 = 0;
  27
  28   // constants for position 2
  29   private final double POS2_DIST1 = 0;
  30   private final double POS2_TURN1 = 0;
  31   private final double POS2_DIST2 = 0;
  32
  33   // constants for position 3
  34   private final double POS3_DIST1 = 0;
  35   private final double POS3_TURN1 = 0;
  36   private final double POS3_DIST2 = 0;
  37   private final double POS3_TURN2 = 0;
  38   private final double POS3_DIST3 = 0;
  39
  40   // constants for position 4
  41   private final double POS4_DIST1 = 0;
  42   private final double POS4_TURN1 = 0;
  43   private final double POS4_DIST2 = 0;
  44   private final double POS4_TURN2 = 0;
  45   private final double POS4_DIST3 = 0;
  46
  47   // constants for position 5
  48   private final double POS5_DIST1 = 0;
  49   private final double POS5_TURN1 = 0;
  50   private final double POS5_DIST2 = 0;
  51
  52   public AlignToScore(int position) {
  53
  54     switch (position) {
  55
  56     // position 1 is always the low bar
  57     case 1:
  58
  59       addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
  60       addSequential(new TurnForAngle(POS1_TURN1));
  61       addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
  62
  63     case 2:
  64
  65       addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
  66       addSequential(new TurnForAngle(POS2_TURN1));
  67       addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
  68
  69     case 3:
  70
  71       addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED));
  72       addSequential(new TurnForAngle(POS3_TURN1));
  73       addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
  74       addSequential(new TurnForAngle(POS3_TURN2));
  75       addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
  76
  77     case 4:
  78
  79       addSequential(new DriveForDistance(POS4_DIST1, DEFAULT_SPEED));
  80       addSequential(new TurnForAngle(POS4_TURN1));
  81       addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED));
  82       addSequential(new TurnForAngle(POS4_TURN2));
  83       addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED));
  84
  85     case 5:
  86
  87       addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
  88       addSequential(new TurnForAngle(POS5_TURN1));
  89       addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
  90     }
  91   }
  92
  93   public static void calculatePath() {
  94     double leftDistance = Robot.shooter.getLeftDistanceToTower();
  95     double rightDistance = Robot.shooter.getRightDistanceToTower();
  96   }
  97 }