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;
*
*/
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) {
-
+ 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
/*
* 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
* .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 {
* .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
* - DIST_CASTLE_WALL_TO_SIDE_GOAL;
* }
- *
+ *
* double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
- *
+ *
* return angleToTurn;
* }
*/