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   // in feet
  13   // distance along a platform
  14   final double DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD = 4.0;
  15
  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     switch (defense) {
  22
  23     case PORTCULLIS:
  24
  25       addSequential(new LiftPortcullis());
  26
  27     case SALLY_PORT:
  28
  29       addSequential(new PassSallyPort());
  30
  31     case ROUGH_TERRAIN:
  32
  33       addSequential(
  34           new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
  35               DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2));
  36
  37     case LOW_BAR:
  38
  39       addSequential(
  40           new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
  41               SPEED_FOR_PASSING_DEFENSE));
  42
  43     case CHEVAL_DE_FRISE:
  44
  45       addSequential(new PassChevalDeFrise());
  46
  47     case DRAWBRIDGE:
  48
  49       addSequential(new LowerDrawBridge());
  50
  51     case MOAT:
  52
  53       addSequential(new DriveForDistance(
  54           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
  55
  56     case ROCK_WALL:
  57
  58       addSequential(new DriveForDistance(
  59           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
  60
  61     case RAMPART:
  62
  63       addSequential(new DriveForDistance(
  64           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
  65
  66     default:
  67       break;
  68     }
  69
  70     // TODO: put in the argument that goes inside of aim, based on the position
  71     // variable that was passed into the command group
  72     addSequential(new Aim());
  73     addSequential(new Shoot());
  74
  75   }
  76
  77 }