+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;
+ * }
+ */
+}