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 import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
   5 import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
   6
   7 import edu.wpi.first.wpilibj.command.CommandGroup;
   8
   9 /**
  10  * This command group will be used in autonomous. Based on what position the
  11  * robot is in, the robot will align with the goal. In the Software 2015-2016
  12  * Google folder is a picture explaining each of the cases.
  13  *
  14  * dependency on sensors: lidars, encoders, gyro
  15  *
  16  * dependency on subsystems: drivetrain
  17  *
  18  * dependency on other commands: TurnForAngle(), DriveForDistance()
  19  *
  20  * pre-condition: robot is flush against a defense at the specified position in
  21  * the opponent's courtyard
  22  *
  23  * post-condition: the robot is parallel to one of the three goals and the
  24  * shooter is facing that goal
  25  *
  26  */
  27 public class AlignToScore extends CommandGroup {
  28   private final static double CENTER_OF_MASS_TO_ROBOT_FRONT = 0;
  29   private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL = 0;
  30   private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL = 0;
  31
  32   private final double DEFAULT_SPEED = 0.5;
  33   private final double maxTimeout = 5;
  34
  35   // in inches
  36   // assuming that positive angle means turning right
  37   // and negative angle means turning left
  38
  39   // constants for position 1: low bar
  40   private final double POS1_DIST1 = 109;
  41   private final double POS1_TURN1 = 60;
  42   private final double POS1_DIST2 = 0;
  43
  44   // constants for position 2
  45   private final double POS2_DIST1 = 140;
  46   private final double POS2_TURN1 = 60;
  47   private final double POS2_DIST2 = 0;
  48
  49   // constants for position 3
  50   private final double POS3_DIST1 = 0;
  51   private final double POS3_TURN1 = 90;
  52   private final double POS3_DIST2 = 35.5;
  53   private final double POS3_TURN2 = -90;
  54   private final double POS3_DIST3 = 0;
  55
  56   // constants for position 4
  57   private final double POS4_DIST1 = 0;
  58   private final double POS4_TURN1 = -90;
  59   private final double POS4_DIST2 = 18.5;
  60   private final double POS4_TURN2 = 90;
  61   private final double POS4_DIST3 = 0;
  62
  63   // constants for position 5
  64   private final double POS5_DIST1 = 0;
  65   private final double POS5_TURN1 = -90;
  66   private final double POS5_DIST2 = 72.5;
  67   private final double POS5_TURN2 = 90;
  68   private final double POS5_DIST3 = 0;
  69
  70   public double horizontalDistToGoal;
  71
  72   public AlignToScore(int position) {
  73
  74     if (position == 1) {
  75
  76       // position 1 is always the low bar
  77
  78       addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED));
  79       addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
  80       addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
  81       horizontalDistToGoal = 0;
  82     } else if (position == 2) {
  83
  84       addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
  85       addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
  86       addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
  87       horizontalDistToGoal = 0;
  88
  89     } else if (position == 3) {
  90
  91       addSequential(new DriveDistance(POS3_DIST1, DEFAULT_SPEED));
  92       addSequential(new TurnForAngle(POS3_TURN1, maxTimeout));
  93       addSequential(new DriveDistance(POS3_DIST2, DEFAULT_SPEED));
  94       addSequential(new TurnForAngle(POS3_TURN2, maxTimeout));
  95       addSequential(new DriveDistance(POS3_DIST3, DEFAULT_SPEED));
  96       horizontalDistToGoal = 0;
  97
  98     } else if (position == 4) {
  99
 100       addSequential(new DriveDistance(POS4_DIST1, DEFAULT_SPEED));
 101       addSequential(new TurnForAngle(POS4_TURN1, maxTimeout));
 102       addSequential(new DriveDistance(POS4_DIST2, DEFAULT_SPEED));
 103       addSequential(new TurnForAngle(POS4_TURN2, maxTimeout));
 104       addSequential(new DriveDistance(POS4_DIST3, DEFAULT_SPEED));
 105       horizontalDistToGoal = 0;
 106
 107     } else if (position == 5) {
 108
 109       addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
 110       addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
 111       addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
 112       addSequential(new TurnForAngle(POS5_TURN2, maxTimeout));
 113       addSequential(new DriveDistance(POS5_DIST3, DEFAULT_SPEED));
 114       horizontalDistToGoal = 0;
 115
 116     }
 117   }
 118
 119   public static double lidarCalculateAngleToTurn(int position,
 120       double horizontalDistToGoal) {
 121     double leftDist = Robot.driveTrain.getLeftLidarDistance();
 122     double rightDist = Robot.driveTrain.getRightLidarDistance();
 123
 124     double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
 125     double distToTower;
 126     // TODO: figure out if we do want to shoot into the side goal if we are
 127     // in position 1 or 2, or if we want to change that
 128     if (position == 1 || position == 2) {
 129       distToTower = Math
 130           .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 131           - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 132     }
 133
 134     // TODO: figure out if we do want to shoot into the font goal if we are
 135     // in position 3, 4, 5, or if we want to change that
 136     else {
 137       distToTower = Math
 138           .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
 139           - DIST_CASTLE_WALL_TO_SIDE_GOAL;
 140     }
 141
 142     double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
 143
 144     return angleToTurn;
 145   }
 146 }