add dead reckoning time, spd, distance to pass defense commands and constants

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index fc2c712491b9fc3a3e27f5092ff2b901c07351ea..287344aff27229a8d681838fb4e5e77dbcb59e42 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -74,6 +74,7 @@ public class Constants {
 
     public static boolean inverted = false;
 
+    public static final double PASS_DEFENSE_TIMEOUT = 10; // find this
   }
 
   public static class Scaler {
@@ -123,6 +124,25 @@ public class Constants {
 
   public static class DeadReckoning {
     public static final double DEFAULT_SPEED = 0.5;
+    public static boolean isDeadReckoning;
+
+    // dead reckoning time and speed constants for driving through defenses
+    public static double passRockWallTime = 0;
+    public static double passRockWallSpeed = 0;
+    public static double passRockWallDistance = 0;
+    public static double passLowBarTime = 0;
+    public static double passLowBarSpeed = 0;
+    public static double passLowBarDistance = 0;
+    public static double passMoatTime = 0;
+    public static double passMoatSpeed = 0;
+    public static double passMoatDistance = 0;
+    public static double passRampartTime = 0;
+    public static double passRampartSpeed = 0;
+    public static double passRampartDistance = 0;
+    public static double passRoughTerrainTime = 0;
+    public static double passRoughTerrainSpeed = 0;
+    public static double passRoughTerrainDistance = 0;
+
   }
 
   public static class IntakeArm {

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
index cbdaeef6fd54e36c0e46ef339cd5c41c4e5efee5..57259bbaf78b4fd06007fe0b79c1602f9a941a7c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassLowBar.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 edu.wpi.first.wpilibj.command.CommandGroup;
 
@@ -22,16 +24,15 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class PassLowBar extends CommandGroup {
 
-  private final double DISTANCE = 4.0;
-  private final double DEFAULT_SPEED = 0.5;
-
   public PassLowBar() {
-    // TODO: need to add sequential for retracting the arms and shooting hood
-    // once those commands are made
-    addSequential(new DriveDistance(DISTANCE, DEFAULT_SPEED));
-  }
-
-  public PassLowBar(double speed) {
-    addSequential(new DriveDistance(DISTANCE, speed));
+    if (Constants.DeadReckoning.isDeadReckoning) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passLowBarTime,
+          Constants.DeadReckoning.passLowBarSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.DeadReckoning.passLowBarDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
index 1f465d95af4e1f2d8f093c93cd04d02a869b0c83..f5b01c468bb774533752c57afa1c19852bc78a2e 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java
@@ -1,5 +1,7 @@
 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 edu.wpi.first.wpilibj.command.CommandGroup;
@@ -25,17 +27,15 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 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));
+    if (Constants.DeadReckoning.isDeadReckoning) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passMoatTime,
+          Constants.DeadReckoning.passMoatSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(Constants.DeadReckoning.passMoatDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java
index 426063dcaa2cad2fa4df19f4d05933640e74d1c1..95bc2a233332c036472c66540558d9c70d9fb37f 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRampart.java
@@ -1,5 +1,7 @@
 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 edu.wpi.first.wpilibj.command.CommandGroup;
@@ -24,16 +26,15 @@ public class PassRampart extends CommandGroup {
 
   public PassRampart() {
 
-    final double BEG_TIME = 0;
-    final double BEG_SPEED = 0;
-    final double MID_TIME = 0;
-    final double MID_SPEED = 0;
-    final double END_TIME = 0;
-    final double END_SPEED = 0;
-
-    addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
-    addSequential(new DriveForTime(MID_TIME, MID_SPEED));
-    addSequential(new DriveForTime(END_TIME, END_SPEED));
+    if (Constants.DeadReckoning.isDeadReckoning) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passRockWallTime,
+          Constants.DeadReckoning.passRockWallSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.DeadReckoning.passRampartDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java
index 2839df3c3156d21751c58446820707e9fb8ada85..4b4a088a04b4e9b2f0c788208928fcc8355f07e2 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java
@@ -1,5 +1,7 @@
 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 edu.wpi.first.wpilibj.command.CommandGroup;
@@ -22,11 +24,16 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class PassRockWall extends CommandGroup {
 
-  private final double time = 0, speed =0;
-
   public PassRockWall() {
-
-    addSequential(new DriveForTime(time, speed));
+    if (Constants.DeadReckoning.isDeadReckoning) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passRockWallTime,
+          Constants.DeadReckoning.passRockWallSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.DeadReckoning.passRockWallDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRoughTerrain.java b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRoughTerrain.java
index 8851edf697ac4d8b70514618222e9ddb52d6855c..ad5054dc02f912bae607774dd84e77e2708a5595 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRoughTerrain.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRoughTerrain.java
@@ -1,5 +1,7 @@
 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 edu.wpi.first.wpilibj.command.CommandGroup;
@@ -22,20 +24,17 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  */
 public class PassRoughTerrain extends CommandGroup {
 
-  // TODO: test for the time
-  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 PassRoughTerrain() {
 
-    addSequential(new DriveForTime(BEG_TIME, BEG_SPEED));
-    addSequential(new DriveForTime(MID_TIME, MID_SPEED));
-    addSequential(new DriveForTime(END_TIME, BEG_SPEED));
+    if (Constants.DeadReckoning.isDeadReckoning) {
+      addSequential(new DriveForTime(Constants.DeadReckoning.passRockWallTime,
+          Constants.DeadReckoning.passRockWallSpeed));
+    }
+    else {
+      addSequential(new DriveDistance(
+          Constants.DeadReckoning.passRoughTerrainDistance,
+          Constants.DriveTrain.PASS_DEFENSE_TIMEOUT));
+    }
 
   }
 }