challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java

   1 package org.usfirst.frc.team3501.robot.commands;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Defense;
   4
   5 import edu.wpi.first.wpilibj.command.CommandGroup;
   6
   7 /**
   8  * The default autonomous strategy involves passing the defense that is in front
   9  * of it, aiming the robot/ shooter towards the goal, and shooting.
  10  */
  11 public class DefaultAutonStrategy extends CommandGroup {
  12
  13   // in feet
  14   // distance along a platform
  15   final double DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD = 4.0;
  16   // number from -1 to 1
  17   final double SPEED_FOR_PASSING_DEFENSE = 0.5;
  18
  19   public DefaultAutonStrategy(int position, Defense defense) {
  20
  21     // TODO: any variable that is not declared/instantiated are variables that
  22     // need
  23     // to be tested for their value
  24
  25     /*
  26      * Portcullis: Robot is in front of the portcullis in whatever position 1-5.
  27      * addSequential(new LiftPortcullis()); lifting the portcullis.
  28      * addSequential(new DriveForDistance(distance, speed)); drive through the
  29      * portcullis however neccesary. change direction to drive towards the
  30      * designated shooting spot, go to that spot. shoot
  31      */
  32
  33     /*
  34      * Sally Port: Robot is in front of the sally port in whatever position 1-5.
  35      * Do whatever is needed in order to cross sally port. addSequential(new
  36      * DriveForDistance(distance, speed));//drive through the sally port. change
  37      * direction to drive towards the designated shooting spot, go to that spot.
  38      * shoot
  39      */
  40
  41     /*
  42      * Rough Terrain: Robot is in front of the sally port in whatever postion
  43      * 1-5. Do whatever adaptive technique is required to pass rough terrain
  44      * addSequential(new DriveForDistance(distance, speed)); go through the
  45      * rough terrain change direction to drive towards the designated shooting
  46      * spot, go to that spot. shoot
  47      */
  48
  49     /*
  50      * Low Bar: Robot is in front of low bar in whatever position 1-5.
  51      * addSequential(new DriveForDistance(distance, speed));//drive through the
  52      * low bar change direction to drive towards the designated shooting spot,
  53      * go to that spot. shoot
  54      */
  55
  56     /*
  57      * Cheval de Frise: Robot is in front of cheval de frise in whatever
  58      * position 1-5. do whatever to make all pieces facing down toward robot
  59      * addSequential(new DriveForDistance(distance, speed));//drive to pass
  60      * cheval de frise change direction to drive towards the designated shooting
  61      * spot, go to that spot. shoot
  62      */
  63
  64     /*
  65      * Drawbridge: Robot is in front of drawbridge in whatever position 1-5.
  66      * lift the drawbridge in whatever way it is to be lifted. addSequential(new
  67      * DriveForDistance(distance, speed));//pass the drawbridge change direction
  68      * to drive towards the designated shooting spot, go to that spot. shoot
  69      */
  70
  71     /*
  72      * Moat: Robot is in front of moat in whatever position 1-5. do whatever is
  73      * adaptable to cross the moat. addSequential(new DriveForDistance(distance,
  74      * speed));//cross the moat change direction to drive towards the designated
  75      * shooting spot, go to that spot. shoot
  76      */
  77
  78     /*
  79      * Rockwall: Robot is in front of moat in whatever position 1-5. do whatever
  80      * function is neccesary to cross the rock wall. addSequential(new
  81      * DriveForDistance(distance, speed));//cross the rockwall change direction
  82      * to drive towards the designated shooting spot, go to that spot. shoot
  83      */
  84
  85     /*
  86      * Rampart: Robot is in front of moat in whatever position 1-5. do whatever
  87      * function is neccesary to cross the rockwall addSequential(new
  88      * DriveForDistance(distance, speed));//cross the rockwall change direction
  89      * to drive towards the designated shooting spot, go to that spot. shoot
  90      */
  91
  92     switch (defense) {
  93
  94     case PORTCULLIS:
  95
  96       addSequential(new LiftPortcullis());
  97
  98     case SALLY_PORT:
  99
 100       addSequential(
 101           new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
 102               DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
 103
 104     case ROUGH_TERRAIN:
 105
 106       addSequential(
 107           new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
 108               DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
 109
 110     case LOW_BAR:
 111
 112       addSequential(
 113           new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
 114               SPEED_FOR_PASSING_DEFENSE));
 115
 116     case CHEVAL_DE_FRISE:
 117
 118       addSequential(new LowerChevalDeFrise());
 119
 120     case DRAWBRIDGE:
 121
 122       addSequential(new LowerDrawBridge());
 123
 124     case MOAT:
 125
 126       addSequential(new DriveForDistance(
 127           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
 128
 129     case ROCK_WALL:
 130
 131       addSequential(new DriveForDistance(
 132           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
 133
 134     case RAMPART:
 135
 136       addSequential(new DriveForDistance(
 137           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
 138
 139     default:
 140       break;
 141     }
 142
 143     // aim towards goal
 144     // later put in whatever argument goes inside of aim based on the position
 145     // variable that was passed onto the command
 146     // group
 147     addSequential(new Aim());
 148     addSequential(new Shoot());
 149
 150   }
 151
 152 }