package org.usfirst.frc.team3501.robot.commands;
+import org.usfirst.frc.team3501.robot.Robot;
+
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;
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) {
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();
+ }
}
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;
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
*
}
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() {
}
// Punch Commands
- public void punch() {
+ public void extendPunch() {
punch.set(Constants.Shooter.punch);
}