add constants same format as meryem did to constants and also add time dead reckoning

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 862459d6fcfdf411ac52cea1a5514de277d2ba59..2d3cd43d6212cd6aab39d692699d78db05cf2646 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -175,6 +175,82 @@ public class Constants {
     // height
   }
 
+  public static class Auton {
+    /*
+     * Distance dead reckoning constants
+     */
+    public static final double POS1_DIST1 = 109;
+    public static final double POS1_TURN1 = 60;
+    public static final double POS1_DIST2 = 0;
+
+    // constants for position 2
+    public static final double POS2_DIST1 = 140;
+    public static final double POS2_TURN1 = 60;
+    public static final double POS2_DIST2 = 0;
+
+    // constants for position 3
+    public static final double POS3_DIST1 = 0;
+    public static final double POS3_TURN1 = 90;
+    public static final double POS3_DIST2 = 35.5;
+    public static final double POS3_TURN2 = -90;
+    public static final double POS3_DIST3 = 0;
+
+    // constants for position 4
+    public static final double POS4_DIST1 = 0;
+    public static final double POS4_TURN1 = -90;
+    public static final double POS4_DIST2 = 18.5;
+    public static final double POS4_TURN2 = 90;
+    public static final double POS4_DIST3 = 0;
+
+    // constants for position 5
+    public static final double POS5_DIST1 = 0;
+    public static final double POS5_TURN1 = -90;
+    public static final double POS5_DIST2 = 72.5;
+    public static final double POS5_TURN2 = 90;
+    public static final double POS5_DIST3 = 0;
+    public static final double DRIVE_MAX_TIMEOUT = 3.0;
+    public static final double TURN_MAX_TIMEOUT = 5.0;
+
+    /*
+     * Time dead Reckoning constants
+     */
+    public static final double POS1_DIST1_TIME = 109;
+    public static final double POS1_DRIVE_MAXSPEED = 0.5;
+    public static final double POS1_TURN1_TIME = 60;
+    public static final double POS1_TURN_MAXSPEED = 0.5;
+    public static final double POS1_DIST2_TIME = 0;
+
+    // constants for position 2
+
+    public static final double POS2_DIST1_TIME = 109;
+    public static final double POS2_DRIVE_MAXSPEED = 0.5;
+    public static final double POS2_TURN1_TIME = 60;
+    public static final double POS2_TURN_MAXSPEED = 0.5;
+    public static final double POS2_DIST2_TIME = 0;
+
+    // constants for position 3
+
+    public static final double POS3_DIST1_TIME = 109;
+    public static final double POS3_DRIVE_MAXSPEED = 0.5;
+    public static final double POS3_TURN1_TIME = 60;
+    public static final double POS3_TURN_MAXSPEED = 0.5;
+    public static final double POS3_DIST2_TIME = 0;
+    // constants for position 4
+
+    public static final double POS4_DIST1_TIME = 109;
+    public static final double POS4_DRIVE_MAXSPEED = 0.5;
+    public static final double POS4_TURN1_TIME = 60;
+    public static final double POS4_TURN_MAXSPEED = 0.5;
+    public static final double POS4_DIST2_TIME = 0;
+    // constants for position 5
+
+    public static final double POS5_DIST1_TIME = 109;
+    public static final double POS5_DRIVE_MAXSPEED = 0.5;
+    public static final double POS5_TURN1_TIME = 60;
+    public static final double POS5_TURN_MAXSPEED = 0.5;
+    public static final double POS5_DIST2_TIME = 0;
+  }
+
   public enum Direction {
     UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD;
   }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
old mode 100755 (executable)
new mode 100644 (file)
index 0f7a79b..f2c577c
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java
@@ -1,6 +1,8 @@
 package org.usfirst.frc.team3501.robot.commands.auton;
 
+import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime;
 import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -24,9 +26,6 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  *
  */
 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;
@@ -36,85 +35,110 @@ public class AlignToScore extends CommandGroup {
   // 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) {
-
+    if (Constants.DeadReckoning.isUsingTimeToPassDefense) {
+      if (position == 1) {
+        addSequential(new DriveForTime(Constants.Auton.POS1_DIST1_TIME,
+            Constants.Auton.POS1_DRIVE_MAXSPEED));
+        addSequential(new TurnForAngle(Constants.Auton.POS1_TURN1,
+            Constants.Auton.POS1_TURN_MAXSPEED));
+        addSequential(new DriveDistance(Constants.Auton.POS1_DIST2_TIME,
+            Constants.Auton.POS1_DRIVE_MAXSPEED));
+        horizontalDistToGoal = 0;
+      }
+      else if (position == 2) {
+        addSequential(new DriveForTime(Constants.Auton.POS2_DIST1_TIME,
+            Constants.Auton.POS2_DRIVE_MAXSPEED));
+        addSequential(new TurnForAngle(Constants.Auton.POS2_TURN1,
+            Constants.Auton.POS2_TURN_MAXSPEED));
+        addSequential(new DriveDistance(Constants.Auton.POS2_DIST2_TIME,
+            Constants.Auton.POS2_DRIVE_MAXSPEED));
+        horizontalDistToGoal = 0;
+      }
+      else if (position == 3) {
+        addSequential(new DriveForTime(Constants.Auton.POS3_DIST1_TIME,
+            Constants.Auton.POS3_DRIVE_MAXSPEED));
+        addSequential(new TurnForAngle(Constants.Auton.POS3_TURN1,
+            Constants.Auton.POS3_TURN_MAXSPEED));
+        addSequential(new DriveDistance(Constants.Auton.POS3_DIST2_TIME,
+            Constants.Auton.POS3_DRIVE_MAXSPEED));
+        horizontalDistToGoal = 0;
+      }
+      else if (position == 4) {
+        addSequential(new DriveForTime(Constants.Auton.POS4_DIST1_TIME,
+            Constants.Auton.POS4_DRIVE_MAXSPEED));
+        addSequential(new TurnForAngle(Constants.Auton.POS4_TURN1,
+            Constants.Auton.POS4_TURN_MAXSPEED));
+        addSequential(new DriveDistance(Constants.Auton.POS4_DIST2_TIME,
+            Constants.Auton.POS4_DRIVE_MAXSPEED));
+        horizontalDistToGoal = 0;
+      }
+      else if (position == 5) {
+        addSequential(new DriveForTime(Constants.Auton.POS5_DIST1_TIME,
+            Constants.Auton.POS5_DRIVE_MAXSPEED));
+        addSequential(new TurnForAngle(Constants.Auton.POS5_TURN1,
+            Constants.Auton.POS5_TURN_MAXSPEED));
+        addSequential(new DriveDistance(Constants.Auton.POS5_DIST2_TIME,
+            Constants.Auton.POS5_DRIVE_MAXSPEED));
+        horizontalDistToGoal = 0;
+      }
+    }
+    else {
       // 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;
-
+      if (position == 1) {
+        addSequential(new DriveDistance(Constants.Auton.POS1_DIST1,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+        addSequential(new TurnForAngle(Constants.Auton.POS1_TURN1,
+            Constants.Auton.TURN_MAX_TIMEOUT));
+        addSequential(new DriveDistance(Constants.Auton.POS1_DIST2,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+      } else if (position == 2) {
+
+        addSequential(new DriveDistance(Constants.Auton.POS2_DIST1,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+        addSequential(new TurnForAngle(Constants.Auton.POS2_TURN1,
+            Constants.Auton.TURN_MAX_TIMEOUT));
+        addSequential(new DriveDistance(Constants.Auton.POS2_DIST2,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+
+      } else if (position == 3) {
+
+        addSequential(new DriveDistance(Constants.Auton.POS3_DIST1,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+        addSequential(new TurnForAngle(Constants.Auton.POS3_TURN1, maxTimeout));
+        addSequential(new DriveDistance(Constants.Auton.POS3_DIST2,
+            Constants.Auton.TURN_MAX_TIMEOUT));
+        addSequential(new TurnForAngle(Constants.Auton.POS3_TURN2, maxTimeout));
+        addSequential(new DriveDistance(Constants.Auton.POS3_DIST3,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+
+      } else if (position == 4) {
+
+        addSequential(new DriveDistance(Constants.Auton.POS4_DIST1,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+        addSequential(new TurnForAngle(Constants.Auton.POS4_TURN1, maxTimeout));
+        addSequential(new DriveDistance(Constants.Auton.POS4_DIST2,
+            Constants.Auton.TURN_MAX_TIMEOUT));
+        addSequential(new TurnForAngle(Constants.Auton.POS4_TURN2, maxTimeout));
+        addSequential(new DriveDistance(Constants.Auton.POS4_DIST3,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+
+      } else if (position == 5) {
+
+        addSequential(new DriveDistance(Constants.Auton.POS5_DIST1,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+        addSequential(new TurnForAngle(Constants.Auton.POS5_TURN1, maxTimeout));
+        addSequential(new DriveDistance(Constants.Auton.POS5_DIST2,
+            Constants.Auton.TURN_MAX_TIMEOUT));
+        addSequential(new TurnForAngle(Constants.Auton.POS5_TURN2, maxTimeout));
+        addSequential(new DriveDistance(Constants.Auton.POS5_DIST3,
+            Constants.Auton.DRIVE_MAX_TIMEOUT));
+      }
     }
   }
-
   // following commented out method is calculations for path of robot in auton
   // after passing through defense using two lidars
   /*
@@ -122,7 +146,7 @@ public class AlignToScore extends CommandGroup {
    * 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
@@ -132,7 +156,7 @@ public class AlignToScore extends CommandGroup {
    * .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 {
@@ -140,9 +164,9 @@ public class AlignToScore extends CommandGroup {
    * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
    * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
    * }
-   * 
+   *
    * double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
-   * 
+   *
    * return angleToTurn;
    * }
    */

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java
index 5b6453ddaa9382a4e30e6d76c3f4f56830c1196a..0083cf5570ab3f1da196494d5fd6052b8ca7e5d7 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java
@@ -5,6 +5,7 @@ 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;
 
 /**
  * The default autonomous strategy involves passing the defense that is in front
@@ -42,7 +43,8 @@ public class DefaultAutonStrategy extends CommandGroup {
     else if (defense == Constants.Defense.RAMPART)
       addSequential(new PassRampart());
 
-    addSequential(new AimAndAlign());
+    addSequential(new AlignToScore(position));
+    addSequential(new WaitCommand(5.0));
     addSequential(new Shoot());
 
   }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
index 90105e0c9368663df2ba0a69d131e5c36481cc03..31fb261e576f0a9748769a1bfa7dd3d5f94b1aee 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
@@ -1,6 +1,6 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
+
 import org.usfirst.frc.team3501.robot.Robot;
-import org.usfirst.frc.team3501.robot.commands.auton.AimAndAlign;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 import edu.wpi.first.wpilibj.command.WaitCommand;
@@ -10,7 +10,6 @@ public class Shoot extends CommandGroup {
   public boolean usePhotogate;
 
   public Shoot() {
-    addSequential(new AimAndAlign());
     addSequential(new WaitCommand(3.0));
     addSequential(new runShooter());
     addSequential(new WaitCommand(3.0));