Delete unused commands

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index f5241d805d609dc306402aa3141affb0d323a415..7ee2d3b29e2b6e378fc0277d6d785109580794ac 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -124,7 +124,7 @@ public class Constants {
 
   public static class DeadReckoning {
     public static final double DEFAULT_SPEED = 0.5;
-    public static boolean isUsingTimeToPassDefense;
+    public static boolean isUsingTimeToPassDefense = true;
 
     // dead reckoning time and speed constants for driving through defenses
     public static double passRockWallTime = 0;

diff --git a/src/org/usfirst/frc/team3501/robot/RobotMap.java b/src/org/usfirst/frc/team3501/robot/RobotMap.java
deleted file mode 100755 (executable)
index e3af2fd..0000000
--- a/src/org/usfirst/frc/team3501/robot/RobotMap.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package org.usfirst.frc.team3501.robot;
-/**
- * The RobotMap is a mapping from the ports sensors and actuators are wired into
- * to a variable name. This provides flexibility changing wiring, makes checking
- * the wiring easier and significantly reduces the number of magic numbers
- * floating around.
- */
-public class RobotMap {
-    // For example to map the left and right motors, you could define the
-    // following variables to use with your drivetrain subsystem.
-    // public static int leftMotor = 1;
-    // public static int rightMotor = 2;
-    
-    // If you are using multiple modules, make sure to define both the port
-    // number and the module. For example you with a rangefinder:
-    // public static int rangefinderPort = 1;
-    // public static int rangefinderModule = 1;
-}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
deleted file mode 100755 (executable)
index 356c71a..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ /dev/null
@@ -1,94 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands;
-
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
-import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
-
-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;
-  private final double maxTimeout = 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 DriveDistance(POS1_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
-
-    case 2:
-
-      addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
-
-    case 3:
-
-      addSequential(new DriveDistance(POS3_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS3_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS3_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS3_TURN2, maxTimeout));
-      addSequential(new DriveDistance(POS3_DIST3, DEFAULT_SPEED));
-
-    case 4:
-
-      addSequential(new DriveDistance(POS4_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS4_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS4_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS4_TURN2, maxTimeout));
-      addSequential(new DriveDistance(POS4_DIST3, DEFAULT_SPEED));
-
-    case 5:
-
-      addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
-    }
-  }
-}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java b/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java
deleted file mode 100755 (executable)
index 0249941..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands;
-
-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
- *
- * post-condition: the robot has passed the rock wall and is in the next zone
- *
- * @author Meryem and Avi
- *
- */
-
-public class PassRockWall 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 PassRockWall() {
-
-    addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
-    addSequential(new DriveForTime(MID_TIME, MID_SPEED));
-    addSequential(new DriveForTime(END_TIME, END_SPEED));
-
-  }
-}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
deleted file mode 100755 (executable)
index 0f7a79b..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
+++ /dev/null
@@ -1,149 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.auton;
-
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
-import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
-
-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;
-  private final double maxTimeout = 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 DriveDistance(POS1_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS1_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-    } else if (position == 2) {
-
-      addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS2_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-
-    } else if (position == 3) {
-
-      addSequential(new DriveDistance(POS3_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS3_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS3_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS3_TURN2, maxTimeout));
-      addSequential(new DriveDistance(POS3_DIST3, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-
-    } else if (position == 4) {
-
-      addSequential(new DriveDistance(POS4_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS4_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS4_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS4_TURN2, maxTimeout));
-      addSequential(new DriveDistance(POS4_DIST3, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-
-    } else if (position == 5) {
-
-      addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS5_TURN1, maxTimeout));
-      addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED));
-      addSequential(new TurnForAngle(POS5_TURN2, maxTimeout));
-      addSequential(new DriveDistance(POS5_DIST3, DEFAULT_SPEED));
-      horizontalDistToGoal = 0;
-
-    }
-  }
-
-  // following commented out method is calculations for path of robot in auton
-  // after passing through defense using two lidars
-  /*
-   * 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;
-   * }
-   */
-}