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.commands.driving.DriveDistance;
   4 import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
   5
   6 import edu.wpi.first.wpilibj.command.CommandGroup;
   7
   8 /**
   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.
  12  *
  13  * dependency on sensors: lidars, encoders, gyro
  14  *
  15  * dependency on subsystems: drivetrain
  16  *
  17  * dependency on other commands: TurnForAngle(), DriveForDistance()
  18  *
  19  * pre-condition: robot is flush against a defense at the specified position in
  20  * the opponent's courtyard
  21  *
  22  * post-condition: the robot is parallel to one of the three goals and the
  23  * shooter is facing that goal
  24  *
  25  */
  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;
  30
  31   private final double DEFAULT_SPEED = 0.5;
  32   private final double maxTimeout = 5;
  33
  34   // in inches
  35   // assuming that positive angle means turning right
  36   // and negative angle means turning left
  37
  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;
  42
  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;
  47
  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;
  54
  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;
  61
  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;
  68
  69   public double horizontalDistToGoal;
  70
  71   public AlignToScore(int position) {
  72
  73     if (position == 1) {
  74
  75       // position 1 is always the low bar
  76
  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) {
  82
  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;
  87
  88     } else if (position == 3) {
  89
  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;
  96
  97     } else if (position == 4) {
  98
  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;
 105
 106     } else if (position == 5) {
 107
 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;
 114
 115     }
 116   }
 117
 118   // following commented out method is calculations for path of robot in auton
 119   // after passing through defense using two lidars
 120   /*
 121    * public static double lidarCalculateAngleToTurn(int position,
 122    * double horizontalDistToGoal) {
 123    * double leftDist = Robot.driveTrain.getLeftLidarDistance();
 124    * double rightDist = Robot.driveTrain.getRightLidarDistance();
 125    *
 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) {
 131    * distToTower = Math
 132    * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 133    * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 134    * }
 135    *
 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
 138    * else {
 139    * distToTower = Math
 140    * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 141    * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 142    * }
 143    *
 144    * double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
 145    *
 146    * return angleToTurn;
 147    * }
 148    */
 149 }