-
- 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;
+ }