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

   1 package org.usfirst.frc.team3501.robot.commands.auton;
   2
   3 import org.usfirst.frc.team3501.robot.Robot;
   4
   5 import edu.wpi.first.wpilibj.command.CommandGroup;
   6
   7 /**
   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.
  11  *
  12  * dependency on sensors: lidars, encoders, gyro
  13  *
  14  * dependency on subsystems: drivetrain
  15  *
  16  * dependency on other commands: TurnForAngle(), DriveForDistance()
  17  *
  18  * pre-condition: robot is flush against a defense at the specified position in
  19  * the opponent's courtyard
  20  *
  21  * post-condition: the robot is parallel to one of the three goals and the
  22  * shooter is facing that goal
  23  *
  24  */
  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;
  29
  30   private final double DEFAULT_SPEED = 0.5;
  31
  32   // in inches
  33   // assuming that positive angle means turning right
  34   // and negative angle means turning left
  35
  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;
  40
  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;
  45
  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;
  52
  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;
  59
  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;
  66
  67   public double horizontalDistToGoal;
  68
  69   public AlignToScore(int position) {
  70
  71     if (position == 1) {
  72
  73       // position 1 is always the low bar
  74
  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) {
  80
  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;
  85
  86     } else if (position == 3) {
  87
  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;
  94
  95     } else if (position == 4) {
  96
  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;
 103
 104     } else if (position == 5) {
 105
 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;
 112
 113     }
 114   }
 115
 116   public static double lidarCalculateAngleToTurn(int position,
 117       double horizontalDistToGoal) {
 118     double leftDist = Robot.driveTrain.getLeftLidarDistance();
 119     double rightDist = Robot.driveTrain.getRightLidarDistance();
 120
 121     double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
 122     double distToTower;
 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) {
 126       distToTower = Math
 127           .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 128           - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 129     }
 130
 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
 133     else {
 134       distToTower = Math
 135           .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 136           - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 137     }
 138
 139     double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
 140
 141     return angleToTurn;
 142   }
 143 }