/**
* 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
*
*/
public class AlignToScore extends CommandGroup {
- private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
+ 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;
+ // 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 = 0;
- private final double POS1_TURN1 = 0;
+ 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 = 0;
- private final double POS4_DIST2 = 0;
- private final double POS4_TURN2 = 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 = 0;
- private final double POS5_DIST2 = 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;
- case 4:
+ } 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 5:
+ } else if (position == 5) {
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;
+
}
}
- public static void calculatePath() {
- double leftDistance = Robot.shooter.getLeftDistanceToTower();
- double rightDistance = Robot.shooter.getRightDistanceToTower();
+ 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;
}
}