add skeleton code for calculating angle to turn for shooting

diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
new file mode 100755 (executable)
index 0000000..a2f83d4
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -0,0 +1,97 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * This command group will be used in autonomous. Based on what position the
+ * robot is in, the robot will align with the goal
+ *
+ * pre-condition: robot is flush against a defense at the specified position in
+ * the opponent's courtyard
+ *
+ * post-condition: the robot is parallel to one of the three goals and the
+ * shooter is facing that goal
+ *
+ */
+public class AlignToScore extends CommandGroup {
+  private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
+
+  private final double DEFAULT_SPEED = 0.5;
+
+  // constants for position 1: low bar
+  private final double POS1_DIST1 = 0;
+  private final double POS1_TURN1 = 0;
+  private final double POS1_DIST2 = 0;
+
+  // constants for position 2
+  private final double POS2_DIST1 = 0;
+  private final double POS2_TURN1 = 0;
+  private final double POS2_DIST2 = 0;
+
+  // constants for position 3
+  private final double POS3_DIST1 = 0;
+  private final double POS3_TURN1 = 0;
+  private final double POS3_DIST2 = 0;
+  private final double POS3_TURN2 = 0;
+  private final double POS3_DIST3 = 0;
+
+  // constants for position 4
+  private final double POS4_DIST1 = 0;
+  private final double POS4_TURN1 = 0;
+  private final double POS4_DIST2 = 0;
+  private final double POS4_TURN2 = 0;
+  private final double POS4_DIST3 = 0;
+
+  // constants for position 5
+  private final double POS5_DIST1 = 0;
+  private final double POS5_TURN1 = 0;
+  private final double POS5_DIST2 = 0;
+
+  public AlignToScore(int position) {
+
+    switch (position) {
+
+    // position 1 is always the low bar
+    case 1:
+
+      addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS1_TURN1));
+      addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
+
+    case 2:
+
+      addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS2_TURN1));
+      addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
+
+    case 3:
+
+      addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS3_TURN1));
+      addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS3_TURN2));
+      addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
+
+    case 4:
+
+      addSequential(new DriveForDistance(POS4_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS4_TURN1));
+      addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS4_TURN2));
+      addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED));
+
+    case 5:
+
+      addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
+      addSequential(new TurnForAngle(POS5_TURN1));
+      addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
+    }
+  }
+
+  public static void calculatePath() {
+    double leftDistance = Robot.shooter.getLeftDistanceToTower();
+    double rightDistance = Robot.shooter.getRightDistanceToTower();
+  }
+}

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index f01d8c2743c1ef50c89f09da92cadf1ddb39989d..5c92506da9844c021fb770c3736209336df97183 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -4,18 +4,19 @@ import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.Lidar;
 import org.usfirst.frc.team3501.robot.MathLib;
 
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /***
- * The Shooter consists of a platform and wheel, each controlled by separate
- * motors. The piston controlling the platform pushes the ball onto the wheel.
- * The wheel is controlled by a motor, which is running before the ball is
- * pushed onto the wheel. The spinning wheel propels the ball.
+ * The Shooter consists of a platform and wheel, each controlled by
+ * separate motors. The piston controlling the platform pushes the ball onto the
+ * wheel. The wheel is controlled by a motor, which is running before the ball
+ * is pushed
+ * onto the wheel. The spinning wheel propels the ball.
  *
  * @author superuser
  *
@@ -23,6 +24,7 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
   private CANTalon shooter;
+  private CANTalon angleAdjuster;
   private DoubleSolenoid hood, punch;
   private Encoder encoder;
   private Lidar lidar;
@@ -31,13 +33,14 @@ public class Shooter extends Subsystem {
     shooter = new CANTalon(Constants.Shooter.PORT);
     hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
         Constants.Shooter.HOOD_REVERSE);
+       angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
         Constants.Shooter.PUNCH_REVERSE);
 
     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
 
-    lidar = new Lidar(I2C.Port.kMXP);
+    lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
   }
 
   /***
@@ -53,8 +56,12 @@ public class Shooter extends Subsystem {
   }
 
   public void setSpeed(double speed) {
-    speed = MathLib.constrain(speed, -1, 1);
-    shooter.set(speed);
+    if (speed > 1.0)
+      shooter.set(1.0);
+    else if (speed < -1.0)
+      shooter.set(-1.0);
+    else
+      shooter.set(speed);
   }
 
   public void stop() {
@@ -73,7 +80,7 @@ public class Shooter extends Subsystem {
   }
 
   // Punch Commands
-  public void punch() {
+  public void extendPunch() {
     punch.set(Constants.Shooter.punch);
   }