public static final double MOAT_SPEED = 0.6;
public static final double ROCK_WALL_SPEED = 0.8;
public static final double ROUGH_TERRAIN_SPEED = 0.6;
- public static final double RAMPART_SPEED = 0.6;
+ public static final double RAMPART_SPEED = 0.4;
public static final double LOW_BAR_SPEED = 0.6;
// Defense crossing times in seconds
public static final double MOAT_TIME = 5.0;
public static final double ROCK_WALL_TIME = 5.0;
public static final double ROUGH_TERRAIN_TIME = 5.0;
- public static final double RAMPART_TIME = 5.0;
+ public static final double RAMPART_TIME = 10.0;
public static final double LOW_BAR_TIME = 5.0;
// Time to wait before shooting in seconds
package org.usfirst.frc.team3501.robot.commands.auton;
-import org.usfirst.frc.team3501.robot.Constants.Auton;
import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
import edu.wpi.first.wpilibj.command.CommandGroup;
-import edu.wpi.first.wpilibj.command.WaitCommand;
public class ChooseStrategy extends CommandGroup {
else if (defense == Defense.LOW_BAR)
addSequential(new PassLowBar());
- addSequential(new AlignToScore(position));
- // TODO: test for how long robot should wait
- addSequential(new WaitCommand(Auton.WAIT_TIME));
- addSequential(new Shoot());
+ // addSequential(new AlignToScore(position));
+ // // TODO: test for how long robot should wait
+ // addSequential(new WaitCommand(Auton.WAIT_TIME));
+ // addSequential(new Shoot());
}
}
// Handle flipping of the "front" of the robot
double k = (isFlipped() ? -1 : 1);
- if (type == Constants.DriveTrain.TANK) {
- // TODO Test this for negation and for voltage vs. [-1,1] outputs
- double leftSpeed = (-frontLeft.get() + -rearLeft.get()) / 2;
- double rightSpeed = (-frontRight.get() + -rearRight.get()) / 2;
- left = ((Constants.DriveTrain.kADJUST - 1) * leftSpeed + left)
- / Constants.DriveTrain.kADJUST;
- right = ((Constants.DriveTrain.kADJUST - 1) * rightSpeed + right)
- / Constants.DriveTrain.kADJUST;
- robotDrive.tankDrive(-left * k, -right * k);
- } else if (type == Constants.DriveTrain.ARCADE) {
- double speed = (-frontLeft.get() + -rearLeft.get() + -frontRight.get() + -rearRight
- .get()) / 2;
- left = ((Constants.DriveTrain.kADJUST - 1) * speed + left)
- / Constants.DriveTrain.kADJUST;
- robotDrive.arcadeDrive(left * k, right);
- }
+ robotDrive.tankDrive(-left, -right);
+
+ // if (type == Constants.DriveTrain.TANK) {
+ // // TODO Test this for negation and for voltage vs. [-1,1] outputs
+ // double leftSpeed = (-frontLeft.get() + -rearLeft.get()) / 2;
+ // double rightSpeed = (-frontRight.get() + -rearRight.get()) / 2;
+ // left = ((Constants.DriveTrain.kADJUST - 1) * leftSpeed + left)
+ // / Constants.DriveTrain.kADJUST;
+ // right = ((Constants.DriveTrain.kADJUST - 1) * rightSpeed + right)
+ // / Constants.DriveTrain.kADJUST;
+ // robotDrive.tankDrive(-left * k, -right * k);
+ // } else if (type == Constants.DriveTrain.ARCADE) {
+ // double speed = (-frontLeft.get() + -rearLeft.get() + -frontRight.get() +
+ // -rearRight
+ // .get()) / 2;
+ // left = ((Constants.DriveTrain.kADJUST - 1) * speed + left)
+ // / Constants.DriveTrain.kADJUST;
+ // robotDrive.arcadeDrive(left * k, right);
+ // }
}
public void setMotorSpeeds(double left, double right) {