Delete unused commands

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
deleted file mode 100755 (executable)
index 0f7a79b..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
+++ /dev/null
@@ -1,149 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.auton;
-
-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;
-
-/**
- * This command group will be used in autonomous. Based on what position the
- * 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
- *
- * post-condition: the robot is parallel to one of the three goals and the
- * shooter is facing that goal
- *
- */
-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;
-  private final double maxTimeout = 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 = 109;
-  private final double POS1_TURN1 = 60;
-  private final double POS1_DIST2 = 0;
-
-  // constants for position 2
-  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 = 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) {
-
-    if (position == 1) {
-
-      // position 1 is always the low bar
-
-      addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-    } else if (position == 2) {
-
-      addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-
-    } else if (position == 3) {
-
-      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));
-      horizontalDistToGoal = 0;
-
-    } else if (position == 4) {
-
-      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));
-      horizontalDistToGoal = 0;
-
-    } else if (position == 5) {
-
-      addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS5_TURN2, maxTimeout));
-      addSequential(new DriveDistance(POS5_DIST3, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-
-    }
-  }
-
-  // following commented out method is calculations for path of robot in auton
-  // after passing through defense using two lidars
-  /*
-   * 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;
-   * }
-   */
-}