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
14 * dependency on subsystems: drivetrain
16 * dependency on other commands: TurnForAngle(), DriveForDistance()
18 * pre-condition: robot is flush against a defense at the specified position in
19 * the opponent's courtyard
21 * post-condition: the robot is parallel to one of the three goals and the
22 * shooter is facing that goal
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;
30 private final double DEFAULT_SPEED
= 0.5;
33 // assuming that positive angle means turning right
34 // and negative angle means turning left
36 // constants for position 1: low bar
37 private final double POS1_DIST1
= 109;
38 private final double POS1_TURN1
= 60;
39 private final double POS1_DIST2
= 0;
41 // constants for position 2
42 private final double POS2_DIST1
= 140;
43 private final double POS2_TURN1
= 60;
44 private final double POS2_DIST2
= 0;
46 // constants for position 3
47 private final double POS3_DIST1
= 0;
48 private final double POS3_TURN1
= 90;
49 private final double POS3_DIST2
= 35.5;
50 private final double POS3_TURN2
= -90;
51 private final double POS3_DIST3
= 0;
53 // constants for position 4
54 private final double POS4_DIST1
= 0;
55 private final double POS4_TURN1
= -90;
56 private final double POS4_DIST2
= 18.5;
57 private final double POS4_TURN2
= 90;
58 private final double POS4_DIST3
= 0;
60 // constants for position 5
61 private final double POS5_DIST1
= 0;
62 private final double POS5_TURN1
= -90;
63 private final double POS5_DIST2
= 72.5;
64 private final double POS5_TURN2
= 90;
65 private final double POS5_DIST3
= 0;
67 public double horizontalDistToGoal
;
69 public AlignToScore(int position
) {
73 // position 1 is always the low bar
75 addSequential(new DriveForDistance(POS1_DIST1
, DEFAULT_SPEED
));
76 addSequential(new TurnForAngle(POS1_TURN1
));
77 addSequential(new DriveForDistance(POS1_DIST2
, DEFAULT_SPEED
));
78 horizontalDistToGoal
= 0;
79 } else if (position
== 2) {
81 addSequential(new DriveForDistance(POS2_DIST1
, DEFAULT_SPEED
));
82 addSequential(new TurnForAngle(POS2_TURN1
));
83 addSequential(new DriveForDistance(POS2_DIST2
, DEFAULT_SPEED
));
84 horizontalDistToGoal
= 0;
86 } else if (position
== 3) {
88 addSequential(new DriveForDistance(POS3_DIST1
, DEFAULT_SPEED
));
89 addSequential(new TurnForAngle(POS3_TURN1
));
90 addSequential(new DriveForDistance(POS3_DIST2
, DEFAULT_SPEED
));
91 addSequential(new TurnForAngle(POS3_TURN2
));
92 addSequential(new DriveForDistance(POS3_DIST3
, DEFAULT_SPEED
));
93 horizontalDistToGoal
= 0;
95 } else if (position
== 4) {
97 addSequential(new DriveForDistance(POS4_DIST1
, DEFAULT_SPEED
));
98 addSequential(new TurnForAngle(POS4_TURN1
));
99 addSequential(new DriveForDistance(POS4_DIST2
, DEFAULT_SPEED
));
100 addSequential(new TurnForAngle(POS4_TURN2
));
101 addSequential(new DriveForDistance(POS4_DIST3
, DEFAULT_SPEED
));
102 horizontalDistToGoal
= 0;
104 } else if (position
== 5) {
106 addSequential(new DriveForDistance(POS5_DIST1
, DEFAULT_SPEED
));
107 addSequential(new TurnForAngle(POS5_TURN1
));
108 addSequential(new DriveForDistance(POS5_DIST2
, DEFAULT_SPEED
));
109 addSequential(new TurnForAngle(POS5_TURN2
));
110 addSequential(new DriveForDistance(POS5_DIST3
, DEFAULT_SPEED
));
111 horizontalDistToGoal
= 0;
116 public static double lidarCalculateAngleToTurn(int position
,
117 double horizontalDistToGoal
) {
118 double leftDist
= Robot
.driveTrain
.getLeftLidarDistance();
119 double rightDist
= Robot
.driveTrain
.getRightLidarDistance();
121 double errorAngle
= Math
.atan(Math
.abs(leftDist
- rightDist
) / 2);
123 // TODO: figure out if we do want to shoot into the side goal if we are
124 // in position 1 or 2, or if we want to change that
125 if (position
== 1 || position
== 2) {
127 .cos(CENTER_OF_MASS_TO_ROBOT_FRONT
+ (leftDist
- rightDist
) / 2)
128 - DIST_CASTLE_WALL_TO_SIDE_GOAL
;
131 // TODO: figure out if we do want to shoot into the font goal if we are
132 // in position 3, 4, 5, or if we want to change that
135 .cos(CENTER_OF_MASS_TO_ROBOT_FRONT
+ (leftDist
- rightDist
) / 2)
136 - DIST_CASTLE_WALL_TO_SIDE_GOAL
;
139 double angleToTurn
= Math
.atan(distToTower
/ horizontalDistToGoal
);