X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fauton%2FAlignToScore.java;h=6450fa0342f6b4ffd9e26134942ed36a273556a5;hp=918a9fca74ca5b96dfc8dae31593144fc3a0b8ca;hb=ca325a5866b4f601b171b02ac767393bd996d44a;hpb=dfcc1b2194b4c82b295440af9b408b6b46f40e03 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 new mode 100644 index 918a9fca..6450fa03 --- a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java +++ b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java @@ -1,7 +1,8 @@ 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; @@ -25,9 +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; @@ -37,110 +35,139 @@ 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) { - - // 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; + * } + */ }