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
index 012ffad6d68cf39b06b99ab757334cee481202fc..a2f83d4233a23e8e16d0349b5ef9c1a4ee1118a4 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -1,5 +1,7 @@
 package org.usfirst.frc.team3501.robot.commands;
 
+import org.usfirst.frc.team3501.robot.Robot;
+
 import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
@@ -14,15 +16,16 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  *
  */
 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
 
+  // 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;
@@ -35,8 +38,16 @@ public class AlignToScore extends CommandGroup {
   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) {
 
@@ -62,15 +73,25 @@ public class AlignToScore extends CommandGroup {
       addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS3_TURN2));
       addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
-      ;
 
     case 4:
 
-      addSequential();
+      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();
+      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 3b91bfe03c451333cdcdd8ef2035071b71a6af3a..98131673509e3089bb5bf861062225cfe807423d 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,8 +1,6 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 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.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@ -11,10 +9,11 @@ import edu.wpi.first.wpilibj.Encoder;
 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
  *
@@ -52,15 +51,12 @@ public class Shooter extends Subsystem {
   }
 
   public void setSpeed(double speed) {
-    speed = MathLib.constrain(speed, -1, 1);
-    shooter.set(speed);
-  }
-
-  // This getDistance() will return the distance using the lidar from the
-  // desired target during match. This distance is returned in units of
-  // CENTIMETERS.
-  public double getDistance() {
-    return lidar.getDistance();
+    if (speed > 1.0)
+      shooter.set(1.0);
+    else if (speed < -1.0)
+      shooter.set(-1.0);
+    else
+      shooter.set(speed);
   }
 
   public void stop() {
@@ -79,7 +75,7 @@ public class Shooter extends Subsystem {
   }
 
   // Punch Commands
-  public void punch() {
+  public void extendPunch() {
     punch.set(Constants.Shooter.punch);
   }