+++ /dev/null
-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. In the Software 2015-2016
- * Google folder is a picture explaining each of the cases.
- *
- * dependency on sensors: lidars, encoders, gyro
- *
- * dependency on subsystems: drivetrain
- *
- * dependency on other commands: TurnForAngle(), DriveForDistance()
- *
- * 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 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;
-
- // in inches
- // assuming that positive angle means turning right
- // 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 DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
- addSequential(new TurnForAngle(POS1_TURN1));
- addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
- horizontalDistToGoal = 0;
- } else if (position == 2) {
-
- addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
- addSequential(new TurnForAngle(POS2_TURN1));
- addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
- horizontalDistToGoal = 0;
-
- } else if (position == 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));
- horizontalDistToGoal = 0;
-
- } else if (position == 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));
- horizontalDistToGoal = 0;
-
- } else if (position == 5) {
-
- addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
- addSequential(new TurnForAngle(POS5_TURN1));
- addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
- addSequential(new TurnForAngle(POS5_TURN2));
- addSequential(new DriveForDistance(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;
- }
-
- // 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;
- }
-}
+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands;\r
-\r
-import org.usfirst.frc.team3501.robot.Robot;\r
-\r
-import edu.wpi.first.wpilibj.Timer;\r
-import edu.wpi.first.wpilibj.command.Command;\r
-\r
-/**\r
- * This command drives the robot for the specified time and specified speed. (If\r
- * a speed is not specified, a default speed is used\r
- *\r
- *\r
- * dependency on subsystems: drivetrain\r
- *\r
- * pre-condition: robot is on\r
- *\r
- * post condition: robot has driven for the specified amount of time\r
- */\r
-public class DriveForTime extends Command {\r
-\r
- private final static double DEFAULT_SPEED = 0.5;\r
- private double speed;\r
- private double seconds;\r
-\r
- private Timer timer;\r
-\r
- public DriveForTime(double seconds, double speed) {\r
- this.seconds = seconds;\r
- this.speed = speed;\r
- }\r
-\r
- public DriveForTime(double seconds) {\r
- this(seconds, DEFAULT_SPEED);\r
- }\r
-\r
- @Override\r
- protected void initialize() {\r
- timer = new Timer();\r
- timer.start();\r
-\r
- Robot.driveTrain.setMotorSpeeds(speed, speed);\r
- }\r
-\r
- @Override\r
- protected void execute() {\r
- }\r
-\r
- @Override\r
- protected boolean isFinished() {\r
- if (timer.get() >= seconds)\r
- return true;\r
- return false;\r
- }\r
-\r
- @Override\r
- protected void end() {\r
- Robot.driveTrain.setMotorSpeeds(0, 0);\r
- }\r
-\r
- @Override\r
- protected void interrupted() {\r
- }\r
-}\r
+++ /dev/null
-package org.usfirst.frc.team3501.robot.commands;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-/***
- * This command will drive the robot through the moat.
- *
- * The code drives the robot for a specific time at a specific speed up the ramp
- * to the defense then drive over the defense at a different speed and time.
- *
- * dependency on subsystem: drivetrain
- *
- * dependency on other commands: DriveForTime
- *
- * pre-condition: robot is flush against the ramp of the outerworks in front of
- * the moat
- *
- * post-condition: the robot has passed the moat and is in the next zone
- *
- * @author Meryem and Avi
- *
- */
-
-public class PassMoat extends CommandGroup {
-
- private final double BEG_TIME = 0;
- private final double MID_TIME = 0;
- private final double END_TIME = 0;
- private final double BEG_SPEED = 0;
- private final double MID_SPEED = 0;
- private final double END_SPEED = 0;
-
- public PassMoat() {
- addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
- addSequential(new DriveForTime(MID_TIME, MID_SPEED));
- addSequential(new DriveForTime(END_TIME, END_SPEED));
-
- }
-}
package org.usfirst.frc.team3501.robot.commands;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
import edu.wpi.first.wpilibj.command.CommandGroup;
/***
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.auton;
+
+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. In the Software 2015-2016
+ * Google folder is a picture explaining each of the cases.
+ *
+ * dependency on sensors: lidars, encoders, gyro
+ *
+ * dependency on subsystems: drivetrain
+ *
+ * dependency on other commands: TurnForAngle(), DriveForDistance()
+ *
+ * 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 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;
+
+ // in inches
+ // assuming that positive angle means turning right
+ // 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 DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS1_TURN1));
+ addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
+ } else if (position == 2) {
+
+ addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS2_TURN1));
+ addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
+
+ } else if (position == 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));
+ horizontalDistToGoal = 0;
+
+ } else if (position == 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));
+ horizontalDistToGoal = 0;
+
+ } else if (position == 5) {
+
+ addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS5_TURN1));
+ addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
+ addSequential(new TurnForAngle(POS5_TURN2));
+ addSequential(new DriveForDistance(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;
+ }
+
+ // 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;
+ }
+}
package org.usfirst.frc.team3501.robot.commands.auton;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
import edu.wpi.first.wpilibj.command.CommandGroup;
/***
* This command will drive the robot through the moat.
*
+ * The code drives the robot for a specific time at a specific speed up the ramp
+ * to the defense then drive over the defense at a different speed and time.
+ *
+ * dependency on subsystem: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
* pre-condition: robot is flush against the ramp of the outerworks in front of
* the moat
*
package org.usfirst.frc.team3501.robot.commands.auton;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
+
import edu.wpi.first.wpilibj.command.CommandGroup;
/***
* This command will drive the robot through the rock wall.
*
+ * dependency on subsystems: drivetrain
+ *
+ * dependency on other commands: DriveForTime
+ *
* pre-condition: robot is flush against the ramp of the outerworks in front of
* the rock wall
*
*
*/
-/**
- *
- */
public class PassRockWall extends CommandGroup {
private final double BEG_TIME = 0;
--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.driving;\r
+\r
+import org.usfirst.frc.team3501.robot.Robot;\r
+\r
+import edu.wpi.first.wpilibj.Timer;\r
+import edu.wpi.first.wpilibj.command.Command;\r
+\r
+/**\r
+ * This command drives the robot for the specified time and specified speed. (If\r
+ * a speed is not specified, a default speed is used\r
+ *\r
+ *\r
+ * dependency on subsystems: drivetrain\r
+ *\r
+ * pre-condition: robot is on\r
+ *\r
+ * post condition: robot has driven for the specified amount of time\r
+ */\r
+public class DriveForTime extends Command {\r
+\r
+ private final static double DEFAULT_SPEED = 0.5;\r
+ private double speed;\r
+ private double seconds;\r
+\r
+ private Timer timer;\r
+\r
+ public DriveForTime(double seconds, double speed) {\r
+ this.seconds = seconds;\r
+ this.speed = speed;\r
+ }\r
+\r
+ public DriveForTime(double seconds) {\r
+ this(seconds, DEFAULT_SPEED);\r
+ }\r
+\r
+ @Override\r
+ protected void initialize() {\r
+ timer = new Timer();\r
+ timer.start();\r
+\r
+ Robot.driveTrain.setMotorSpeeds(speed, speed);\r
+ }\r
+\r
+ @Override\r
+ protected void execute() {\r
+ }\r
+\r
+ @Override\r
+ protected boolean isFinished() {\r
+ if (timer.get() >= seconds)\r
+ return true;\r
+ return false;\r
+ }\r
+\r
+ @Override\r
+ protected void end() {\r
+ Robot.driveTrain.setMotorSpeeds(0, 0);\r
+ }\r
+\r
+ @Override\r
+ protected void interrupted() {\r
+ }\r
+}\r
projects / 3501 / stronghold-2016 / commitdiff