add constants same format as meryem did to constants and also add time dead reckoning

[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
old mode 100755 (executable)
new mode 100644 (file)
index 0f7a79b..f2c577c
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
@@ -1,6 +1,8 @@
 package org.usfirst.frc.team3501.robot.commands.auton;
 
+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;
@@ -24,9 +26,6 @@ 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;
@@ -36,85 +35,110 @@ public class AlignToScore extends CommandGroup {
   // 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) {
-
+    if (Constants.DeadReckoning.isUsingTimeToPassDefense) {
+      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;
+      }
+    }
+    else {
       // 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;
-
+      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));
+      }
     }
   }
-
   // following commented out method is calculations for path of robot in auton
   // after passing through defense using two lidars
   /*
@@ -122,7 +146,7 @@ public class AlignToScore extends CommandGroup {
    * 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
@@ -132,7 +156,7 @@ public class AlignToScore extends CommandGroup {
    * .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 {
@@ -140,9 +164,9 @@ public class AlignToScore extends CommandGroup {
    * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
    * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
    * }
-   * 
+   *
    * double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
-   * 
+   *
    * return angleToTurn;
    * }
    */