*
*/
public class AlignToScore extends CommandGroup {
- private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
+ 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 POS5_TURN1 = 0;
private final double POS5_DIST2 = 0;
+ public double horizontalDistToGoal;
+
public AlignToScore(int position) {
switch (position) {
addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
addSequential(new TurnForAngle(POS1_TURN1));
addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
case 2:
addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
addSequential(new TurnForAngle(POS2_TURN1));
addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
case 3:
addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
addSequential(new TurnForAngle(POS3_TURN2));
addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
case 4:
addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED));
addSequential(new TurnForAngle(POS4_TURN2));
addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
case 5:
addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
addSequential(new TurnForAngle(POS5_TURN1));
addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
+ horizontalDistToGoal = 0;
}
}
- public static void calculatePath() {
- double leftDistance = Robot.shooter.getLeftDistanceToTower();
- double rightDistance = Robot.shooter.getRightDistanceToTower();
+ public static double calculatePath(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;
}
}