1 package org
.usfirst
.frc
.team3501
.robot
.commands
.auton
;
3 import org
.usfirst
.frc
.team3501
.robot
.commands
.driving
.DriveDistance
;
4 import org
.usfirst
.frc
.team3501
.robot
.commands
.driving
.TurnForAngle
;
6 import edu
.wpi
.first
.wpilibj
.command
.CommandGroup
;
9 * This command group will be used in autonomous. Based on what position the
10 * robot is in, the robot will align with the goal. In the Software 2015-2016
11 * Google folder is a picture explaining each of the cases.
13 * dependency on sensors: lidars, encoders, gyro
15 * dependency on subsystems: drivetrain
17 * dependency on other commands: TurnForAngle(), DriveForDistance()
19 * pre-condition: robot is flush against a defense at the specified position in
20 * the opponent's courtyard
22 * post-condition: the robot is parallel to one of the three goals and the
23 * shooter is facing that goal
26 public class AlignToScore
extends CommandGroup
{
27 private final static double CENTER_OF_MASS_TO_ROBOT_FRONT
= 0;
28 private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL
= 0;
29 private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL
= 0;
31 private final double DEFAULT_SPEED
= 0.5;
32 private final double maxTimeout
= 5;
35 // assuming that positive angle means turning right
36 // and negative angle means turning left
38 // constants for position 1: low bar
39 private final double POS1_DIST1
= 109;
40 private final double POS1_TURN1
= 60;
41 private final double POS1_DIST2
= 0;
43 // constants for position 2
44 private final double POS2_DIST1
= 140;
45 private final double POS2_TURN1
= 60;
46 private final double POS2_DIST2
= 0;
48 // constants for position 3
49 private final double POS3_DIST1
= 0;
50 private final double POS3_TURN1
= 90;
51 private final double POS3_DIST2
= 35.5;
52 private final double POS3_TURN2
= -90;
53 private final double POS3_DIST3
= 0;
55 // constants for position 4
56 private final double POS4_DIST1
= 0;
57 private final double POS4_TURN1
= -90;
58 private final double POS4_DIST2
= 18.5;
59 private final double POS4_TURN2
= 90;
60 private final double POS4_DIST3
= 0;
62 // constants for position 5
63 private final double POS5_DIST1
= 0;
64 private final double POS5_TURN1
= -90;
65 private final double POS5_DIST2
= 72.5;
66 private final double POS5_TURN2
= 90;
67 private final double POS5_DIST3
= 0;
69 public double horizontalDistToGoal
;
71 public AlignToScore(int position
) {
75 // position 1 is always the low bar
77 addSequential(new DriveDistance(POS1_DIST1
, DEFAULT_SPEED
));
78 addSequential(new TurnForAngle(POS1_TURN1
, maxTimeout
));
79 addSequential(new DriveDistance(POS1_DIST2
, DEFAULT_SPEED
));
80 horizontalDistToGoal
= 0;
81 } else if (position
== 2) {
83 addSequential(new DriveDistance(POS2_DIST1
, DEFAULT_SPEED
));
84 addSequential(new TurnForAngle(POS2_TURN1
, maxTimeout
));
85 addSequential(new DriveDistance(POS2_DIST2
, DEFAULT_SPEED
));
86 horizontalDistToGoal
= 0;
88 } else if (position
== 3) {
90 addSequential(new DriveDistance(POS3_DIST1
, DEFAULT_SPEED
));
91 addSequential(new TurnForAngle(POS3_TURN1
, maxTimeout
));
92 addSequential(new DriveDistance(POS3_DIST2
, DEFAULT_SPEED
));
93 addSequential(new TurnForAngle(POS3_TURN2
, maxTimeout
));
94 addSequential(new DriveDistance(POS3_DIST3
, DEFAULT_SPEED
));
95 horizontalDistToGoal
= 0;
97 } else if (position
== 4) {
99 addSequential(new DriveDistance(POS4_DIST1
, DEFAULT_SPEED
));
100 addSequential(new TurnForAngle(POS4_TURN1
, maxTimeout
));
101 addSequential(new DriveDistance(POS4_DIST2
, DEFAULT_SPEED
));
102 addSequential(new TurnForAngle(POS4_TURN2
, maxTimeout
));
103 addSequential(new DriveDistance(POS4_DIST3
, DEFAULT_SPEED
));
104 horizontalDistToGoal
= 0;
106 } else if (position
== 5) {
108 addSequential(new DriveDistance(POS5_DIST1
, DEFAULT_SPEED
));
109 addSequential(new TurnForAngle(POS5_TURN1
, maxTimeout
));
110 addSequential(new DriveDistance(POS5_DIST2
, DEFAULT_SPEED
));
111 addSequential(new TurnForAngle(POS5_TURN2
, maxTimeout
));
112 addSequential(new DriveDistance(POS5_DIST3
, DEFAULT_SPEED
));
113 horizontalDistToGoal
= 0;
118 // following commented out method is calculations for path of robot in auton
119 // after passing through defense using two lidars
121 * public static double lidarCalculateAngleToTurn(int position,
122 * double horizontalDistToGoal) {
123 * double leftDist = Robot.driveTrain.getLeftLidarDistance();
124 * double rightDist = Robot.driveTrain.getRightLidarDistance();
126 * double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
127 * double distToTower;
128 * // TODO: figure out if we do want to shoot into the side goal if we are
129 * // in position 1 or 2, or if we want to change that
130 * if (position == 1 || position == 2) {
132 * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
133 * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
136 * // TODO: figure out if we do want to shoot into the font goal if we are
137 * // in position 3, 4, 5, or if we want to change that
140 * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
141 * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
144 * double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
146 * return angleToTurn;