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
  13  *
  14  * dependency on subsystems: drivetrain
  15  *
  16  * dependency on other commands: TurnForAngle(), DriveForDistance()
  17  *
  18  * pre-condition: robot is flush against a defense at the specified position in
  19  * the opponent's courtyard
  20  *
  21  * post-condition: the robot is parallel to one of the three goals and the
  22  * shooter is facing that goal
  23  *
  24  */
  25 public class AlignToScore extends CommandGroup {
  26   private final static double CENTER_OF_MASS_TO_ROBOT_FRONT = 0;
  27   private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL = 0;
  28   private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL = 0;
  29
  30   private final double DEFAULT_SPEED = 0.5;
  31
  32   // constants for position 1: low bar
  33   private final double POS1_DIST1 = 0;
  34   private final double POS1_TURN1 = 0;
  35   private final double POS1_DIST2 = 0;
  36
  37   // constants for position 2
  38   private final double POS2_DIST1 = 0;
  39   private final double POS2_TURN1 = 0;
  40   private final double POS2_DIST2 = 0;
  41
  42   // constants for position 3
  43   private final double POS3_DIST1 = 0;
  44   private final double POS3_TURN1 = 0;
  45   private final double POS3_DIST2 = 0;
  46   private final double POS3_TURN2 = 0;
  47   private final double POS3_DIST3 = 0;
  48
  49   // constants for position 4
  50   private final double POS4_DIST1 = 0;
  51   private final double POS4_TURN1 = 0;
  52   private final double POS4_DIST2 = 0;
  53   private final double POS4_TURN2 = 0;
  54   private final double POS4_DIST3 = 0;
  55
  56   // constants for position 5
  57   private final double POS5_DIST1 = 0;
  58   private final double POS5_TURN1 = 0;
  59   private final double POS5_DIST2 = 0;
  60
  61   public double horizontalDistToGoal;
  62
  63   public AlignToScore(int position) {
  64
  65     switch (position) {
  66
  67     // position 1 is always the low bar
  68     case 1:
  69
  70       addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
  71       addSequential(new TurnForAngle(POS1_TURN1));
  72       addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
  73       horizontalDistToGoal = 0;
  74
  75     case 2:
  76
  77       addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
  78       addSequential(new TurnForAngle(POS2_TURN1));
  79       addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
  80       horizontalDistToGoal = 0;
  81
  82     case 3:
  83
  84       addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED));
  85       addSequential(new TurnForAngle(POS3_TURN1));
  86       addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
  87       addSequential(new TurnForAngle(POS3_TURN2));
  88       addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
  89       horizontalDistToGoal = 0;
  90
  91     case 4:
  92
  93       addSequential(new DriveForDistance(POS4_DIST1, DEFAULT_SPEED));
  94       addSequential(new TurnForAngle(POS4_TURN1));
  95       addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED));
  96       addSequential(new TurnForAngle(POS4_TURN2));
  97       addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED));
  98       horizontalDistToGoal = 0;
  99
 100     case 5:
 101
 102       addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
 103       addSequential(new TurnForAngle(POS5_TURN1));
 104       addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
 105       horizontalDistToGoal = 0;
 106     }
 107   }
 108
 109   public static double calculateAngleToTurn(int position,
 110       double horizontalDistToGoal) {
 111     double leftDist = Robot.driveTrain.getLeftLidarDistance();
 112     double rightDist = Robot.driveTrain.getRightLidarDistance();
 113
 114     double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
 115     double distToTower;
 116     // TODO: figure out if we do want to shoot into the side goal if we are
 117     // in position 1 or 2, or if we want to change that
 118     if (position == 1 || position == 2) {
 119       distToTower = Math
 120           .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 121           - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 122     }
 123
 124     // TODO: figure out if we do want to shoot into the font goal if we are
 125     // in position 3, 4, 5, or if we want to change that
 126     else {
 127       distToTower = Math
 128           .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 129           - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 130     }
 131
 132     double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
 133
 134     return angleToTurn;
 135   }
 136 }