package org.usfirst.frc.team3501.robot.commands.auton;
-import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
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;
private final double maxTimeout = 5;
// 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;
-
- }
- }
-
- 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;
+ if (Constants.Auton.isUsingTime) {
+ if (position == 1) {
+ addSequential(new DriveForTime(Constants.Auton.POS1_DIST1_TIME,
+ Constants.Auton.POS1_DRIVE_MAXSPEED));
+ addSequential(new TurnForAngle(Constants.Auton.POS1_TURN1,
+ Constants.Auton.POS1_TURN_MAXSPEED));
+ addSequential(new DriveDistance(Constants.Auton.POS1_DIST2_TIME,
+ Constants.Auton.POS1_DRIVE_MAXSPEED));
+ horizontalDistToGoal = 0;
+ }
+ else if (position == 2) {
+ addSequential(new DriveForTime(Constants.Auton.POS2_DIST1_TIME,
+ Constants.Auton.POS2_DRIVE_MAXSPEED));
+ addSequential(new TurnForAngle(Constants.Auton.POS2_TURN1,
+ Constants.Auton.POS2_TURN_MAXSPEED));
+ addSequential(new DriveDistance(Constants.Auton.POS2_DIST2_TIME,
+ Constants.Auton.POS2_DRIVE_MAXSPEED));
+ horizontalDistToGoal = 0;
+ }
+ else if (position == 3) {
+ addSequential(new DriveForTime(Constants.Auton.POS3_DIST1_TIME,
+ Constants.Auton.POS3_DRIVE_MAXSPEED));
+ addSequential(new TurnForAngle(Constants.Auton.POS3_TURN1,
+ Constants.Auton.POS3_TURN_MAXSPEED));
+ addSequential(new DriveDistance(Constants.Auton.POS3_DIST2_TIME,
+ Constants.Auton.POS3_DRIVE_MAXSPEED));
+ horizontalDistToGoal = 0;
+ }
+ else if (position == 4) {
+ addSequential(new DriveForTime(Constants.Auton.POS4_DIST1_TIME,
+ Constants.Auton.POS4_DRIVE_MAXSPEED));
+ addSequential(new TurnForAngle(Constants.Auton.POS4_TURN1,
+ Constants.Auton.POS4_TURN_MAXSPEED));
+ addSequential(new DriveDistance(Constants.Auton.POS4_DIST2_TIME,
+ Constants.Auton.POS4_DRIVE_MAXSPEED));
+ horizontalDistToGoal = 0;
+ }
+ else if (position == 5) {
+ addSequential(new DriveForTime(Constants.Auton.POS5_DIST1_TIME,
+ Constants.Auton.POS5_DRIVE_MAXSPEED));
+ addSequential(new TurnForAngle(Constants.Auton.POS5_TURN1,
+ Constants.Auton.POS5_TURN_MAXSPEED));
+ addSequential(new DriveDistance(Constants.Auton.POS5_DIST2_TIME,
+ Constants.Auton.POS5_DRIVE_MAXSPEED));
+ horizontalDistToGoal = 0;
+ }
}
-
- // 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;
+ // position 1 is always the low bar
+ if (position == 1) {
+ addSequential(new DriveDistance(Constants.Auton.POS1_DIST1,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+ addSequential(new TurnForAngle(Constants.Auton.POS1_TURN1,
+ Constants.Auton.TURN_MAX_TIMEOUT));
+ addSequential(new DriveDistance(Constants.Auton.POS1_DIST2,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+ } else if (position == 2) {
+
+ addSequential(new DriveDistance(Constants.Auton.POS2_DIST1,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+ addSequential(new TurnForAngle(Constants.Auton.POS2_TURN1,
+ Constants.Auton.TURN_MAX_TIMEOUT));
+ addSequential(new DriveDistance(Constants.Auton.POS2_DIST2,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+
+ } else if (position == 3) {
+
+ addSequential(new DriveDistance(Constants.Auton.POS3_DIST1,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+ addSequential(new TurnForAngle(Constants.Auton.POS3_TURN1, maxTimeout));
+ addSequential(new DriveDistance(Constants.Auton.POS3_DIST2,
+ Constants.Auton.TURN_MAX_TIMEOUT));
+ addSequential(new TurnForAngle(Constants.Auton.POS3_TURN2, maxTimeout));
+ addSequential(new DriveDistance(Constants.Auton.POS3_DIST3,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+
+ } else if (position == 4) {
+
+ addSequential(new DriveDistance(Constants.Auton.POS4_DIST1,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+ addSequential(new TurnForAngle(Constants.Auton.POS4_TURN1, maxTimeout));
+ addSequential(new DriveDistance(Constants.Auton.POS4_DIST2,
+ Constants.Auton.TURN_MAX_TIMEOUT));
+ addSequential(new TurnForAngle(Constants.Auton.POS4_TURN2, maxTimeout));
+ addSequential(new DriveDistance(Constants.Auton.POS4_DIST3,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+
+ } else if (position == 5) {
+
+ addSequential(new DriveDistance(Constants.Auton.POS5_DIST1,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+ addSequential(new TurnForAngle(Constants.Auton.POS5_TURN1, maxTimeout));
+ addSequential(new DriveDistance(Constants.Auton.POS5_DIST2,
+ Constants.Auton.TURN_MAX_TIMEOUT));
+ addSequential(new TurnForAngle(Constants.Auton.POS5_TURN2, maxTimeout));
+ addSequential(new DriveDistance(Constants.Auton.POS5_DIST3,
+ Constants.Auton.DRIVE_MAX_TIMEOUT));
+ }
}
-
- double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
-
- return angleToTurn;
}
+ // 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;
+ * }
+ */
}
projects / 3501 / stronghold-2016 / blobdiff