+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();
+ }
+}