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 vars that need
  22     // to be tested for their value
  23
  24     // pass the defense
  25     switch (defense) {
  26
  27     case PORTCULLIS:
  28       // we are assuming that LiftPortcullis() includes moving the defense arm
  29       // and driving forward
  30
  31       addSequential(new LiftPortcullis());
  32
  33     case SALLY_PORT:
  34
  35       // addSequential();
  36
  37     case ROUGH_TERRAIN:
  38
  39       addSequential(
  40           new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
  41               SPEED_FOR_PASSING_DEFENSE));
  42
  43     case LOW_BAR:
  44
  45       addSequential(
  46           new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2,
  47               SPEED_FOR_PASSING_DEFENSE));
  48
  49     case CHEVAL_DE_FRISE:
  50
  51       addSequential(new LowerChevalDeFrise());
  52
  53     case DRAWBRIDGE:
  54
  55       addSequential(new LowerDrawBridge());
  56
  57     case MOAT:
  58
  59       addSequential(new DriveForDistance(
  60           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
  61
  62     case ROCK_WALL:
  63
  64       addSequential(new DriveForDistance(
  65           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
  66
  67     case RAMPART:
  68
  69       addSequential(new DriveForDistance(
  70           DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE));
  71
  72     default:
  73       break;
  74     }
  75
  76     // aim towards goal
  77
  78     // shoot
  79
  80     //
  81
  82   }
  83
  84 }