add more comments explaining AlignToScore command group

[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 97b8ad2cf541d52f7a25c9295d278cac5c1e829e..69da96f594dc2d6b61c860bd309fe1bca0d9e183 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -6,7 +6,11 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
  * This command group will be used in autonomous. Based on what position the
- * robot is in, the robot will align with the goal
+ * robot is in, the robot will align with the goal. In the Software 2015-2016
+ * Google folder is a picture explaining each of the cases.
+ *
+ * dependency on sensors: lidars, encoders, gyro dependency on subsystems:
+ * drivetrain dependency on other commands: TurnForAngle(), DriveForDistance()
  *
  * pre-condition: robot is flush against a defense at the specified position in
  * the opponent's courtyard
@@ -99,7 +103,7 @@ public class AlignToScore extends CommandGroup {
     }
   }
 
-  public static double calculatePath(int position,
+  public static double calculateAngleToTurn(int position,
       double horizontalDistToGoal) {
     double leftDist = Robot.driveTrain.getLeftLidarDistance();
     double rightDist = Robot.driveTrain.getRightLidarDistance();