change position 5 to shoot in middle goal

[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 012ffad6d68cf39b06b99ab757334cee481202fc..e5550cb18a1e8512a8be83734cc4e4a7000fb956 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -1,10 +1,19 @@
 package org.usfirst.frc.team3501.robot.commands;
 
+import org.usfirst.frc.team3501.robot.Robot;
+
 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
@@ -14,63 +23,121 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  *
  */
 public class AlignToScore extends CommandGroup {
+  private final static double CENTER_OF_MASS_TO_ROBOT_FRONT = 0;
+  private final static double DIST_CASTLE_WALL_TO_SIDE_GOAL = 0;
+  private final static double DIST_CASTLE_WALL_TO_FRONT_GOAL = 0;
+
   private final double DEFAULT_SPEED = 0.5;
-  // constants for position 1: low bar
 
-  private final double POS1_DIST1 = 0;
-  private final double POS1_TURN1 = 0;
+  // in inches
+  // assuming that positive angle means turning right
+  // and negative angle means turning left
+
+  // constants for position 1: low bar
+  private final double POS1_DIST1 = 109;
+  private final double POS1_TURN1 = 60;
   private final double POS1_DIST2 = 0;
 
   // constants for position 2
-
-  private final double POS2_DIST1 = 0;
-  private final double POS2_TURN1 = 0;
+  private final double POS2_DIST1 = 140;
+  private final double POS2_TURN1 = 60;
   private final double POS2_DIST2 = 0;
 
   // constants for position 3
   private final double POS3_DIST1 = 0;
-  private final double POS3_TURN1 = 0;
-  private final double POS3_DIST2 = 0;
-  private final double POS3_TURN2 = 0;
+  private final double POS3_TURN1 = 90;
+  private final double POS3_DIST2 = 35.5;
+  private final double POS3_TURN2 = -90;
   private final double POS3_DIST3 = 0;
 
   // constants for position 4
+  private final double POS4_DIST1 = 0;
+  private final double POS4_TURN1 = -90;
+  private final double POS4_DIST2 = 18.5;
+  private final double POS4_TURN2 = 90;
+  private final double POS4_DIST3 = 0;
 
   // constants for position 5
+  private final double POS5_DIST1 = 0;
+  private final double POS5_TURN1 = -90;
+  private final double POS5_DIST2 = 72.5;
+  private final double POS5_TURN2 = 90;
+  private final double POS5_DIST3 = 0;
+
+  public double horizontalDistToGoal;
 
   public AlignToScore(int position) {
 
-    switch (position) {
+    if (position == 1) {
 
-    // position 1 is always the low bar
-    case 1:
+      // position 1 is always the low bar
 
       addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS1_TURN1));
       addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
-
-    case 2:
+      horizontalDistToGoal = 0;
+    } else if (position == 2) {
 
       addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS2_TURN1));
       addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
 
-    case 3:
+    } else if (position == 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));
-      ;
+      horizontalDistToGoal = 0;
+
+    } else if (position == 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));
+      horizontalDistToGoal = 0;
 
-    case 4:
+    } else if (position == 5) {
 
-      addSequential();
+      addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS5_TURN1));
+      addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS5_TURN2));
+      addSequential(new DriveForDistance(POS5_DIST3, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
 
-    case 5:
+    }
+  }
 
-      addSequential();
+  public static double lidarCalculateAngleToTurn(int position,
+      double horizontalDistToGoal) {
+    double leftDist = Robot.driveTrain.getLeftLidarDistance();
+    double rightDist = Robot.driveTrain.getRightLidarDistance();
+
+    double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
+    double distToTower;
+    // TODO: figure out if we do want to shoot into the side goal if we are
+    // in position 1 or 2, or if we want to change that
+    if (position == 1 || position == 2) {
+      distToTower = Math
+          .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
+          - DIST_CASTLE_WALL_TO_SIDE_GOAL;
     }
+
+    // TODO: figure out if we do want to shoot into the font goal if we are
+    // in position 3, 4, 5, or if we want to change that
+    else {
+      distToTower = Math
+          .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
+          - DIST_CASTLE_WALL_TO_SIDE_GOAL;
+    }
+
+    double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
+
+    return angleToTurn;
   }
 }