fix command names and get rid of unused stuff

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / AlignToScore.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
index a2f83d4233a23e8e16d0349b5ef9c1a4ee1118a4..356c71a82c8367e18aecf5047d4ec8017887acd6 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.commands;
 
-import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
+import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
@@ -19,6 +20,7 @@ public class AlignToScore extends CommandGroup {
   private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
 
   private final double DEFAULT_SPEED = 0.5;
+  private final double maxTimeout = 5;
 
   // constants for position 1: low bar
   private final double POS1_DIST1 = 0;
@@ -56,42 +58,37 @@ public class AlignToScore extends CommandGroup {
     // position 1 is always the low bar
     case 1:
 
-      addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS1_TURN1));
-      addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
+      addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
 
     case 2:
 
-      addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS2_TURN1));
-      addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
+      addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
 
     case 3:
 
-      addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS3_TURN1));
-      addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS3_TURN2));
-      addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
+      addSequential(new DriveDistance(POS3_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS3_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS3_DIST2, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS3_TURN2, maxTimeout));
+      addSequential(new DriveDistance(POS3_DIST3, DEFAULT_SPEED));
 
     case 4:
 
-      addSequential(new DriveForDistance(POS4_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS4_TURN1));
-      addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS4_TURN2));
-      addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED));
+      addSequential(new DriveDistance(POS4_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS4_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS4_DIST2, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS4_TURN2, maxTimeout));
+      addSequential(new DriveDistance(POS4_DIST3, DEFAULT_SPEED));
 
     case 5:
 
-      addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS5_TURN1));
-      addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
+      addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
+      addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
     }
   }
-
-  public static void calculatePath() {
-    double leftDistance = Robot.shooter.getLeftDistanceToTower();
-    double rightDistance = Robot.shooter.getRightDistanceToTower();
-  }
 }