From: Meryem Esa Date: Mon, 15 Feb 2016 19:24:47 +0000 (-0800) Subject: move commands/command groups to the proper packages X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=1fb6ed96403e3cd89640a375a690d34ea331d6c2 move commands/command groups to the proper packages --- diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java deleted file mode 100755 index e5550cb1..00000000 --- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java +++ /dev/null @@ -1,143 +0,0 @@ -package org.usfirst.frc.team3501.robot.commands; - -import org.usfirst.frc.team3501.robot.Robot; - -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; - - // 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 DriveForDistance(POS1_DIST1, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS1_TURN1)); - addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED)); - horizontalDistToGoal = 0; - } else if (position == 2) { - - addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS2_TURN1)); - addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED)); - horizontalDistToGoal = 0; - - } else if (position == 3) { - - addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS3_TURN1)); - addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS3_TURN2)); - addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED)); - horizontalDistToGoal = 0; - - } else if (position == 4) { - - addSequential(new DriveForDistance(POS4_DIST1, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS4_TURN1)); - addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS4_TURN2)); - addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED)); - horizontalDistToGoal = 0; - - } else if (position == 5) { - - addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS5_TURN1)); - addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS5_TURN2)); - addSequential(new DriveForDistance(POS5_DIST3, DEFAULT_SPEED)); - horizontalDistToGoal = 0; - - } - } - - 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; - } -} diff --git a/src/org/usfirst/frc/team3501/robot/commands/DriveForTime.java b/src/org/usfirst/frc/team3501/robot/commands/DriveForTime.java deleted file mode 100755 index 004b912e..00000000 --- a/src/org/usfirst/frc/team3501/robot/commands/DriveForTime.java +++ /dev/null @@ -1,63 +0,0 @@ -package org.usfirst.frc.team3501.robot.commands; - -import org.usfirst.frc.team3501.robot.Robot; - -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.command.Command; - -/** - * This command drives the robot for the specified time and specified speed. (If - * a speed is not specified, a default speed is used - * - * - * dependency on subsystems: drivetrain - * - * pre-condition: robot is on - * - * post condition: robot has driven for the specified amount of time - */ -public class DriveForTime extends Command { - - private final static double DEFAULT_SPEED = 0.5; - private double speed; - private double seconds; - - private Timer timer; - - public DriveForTime(double seconds, double speed) { - this.seconds = seconds; - this.speed = speed; - } - - public DriveForTime(double seconds) { - this(seconds, DEFAULT_SPEED); - } - - @Override - protected void initialize() { - timer = new Timer(); - timer.start(); - - Robot.driveTrain.setMotorSpeeds(speed, speed); - } - - @Override - protected void execute() { - } - - @Override - protected boolean isFinished() { - if (timer.get() >= seconds) - return true; - return false; - } - - @Override - protected void end() { - Robot.driveTrain.setMotorSpeeds(0, 0); - } - - @Override - protected void interrupted() { - } -} diff --git a/src/org/usfirst/frc/team3501/robot/commands/PassMoat.java b/src/org/usfirst/frc/team3501/robot/commands/PassMoat.java deleted file mode 100755 index b54508f4..00000000 --- a/src/org/usfirst/frc/team3501/robot/commands/PassMoat.java +++ /dev/null @@ -1,39 +0,0 @@ -package org.usfirst.frc.team3501.robot.commands; - -import edu.wpi.first.wpilibj.command.CommandGroup; - -/*** - * This command will drive the robot through the moat. - * - * The code drives the robot for a specific time at a specific speed up the ramp - * to the defense then drive over the defense at a different speed and time. - * - * dependency on subsystem: drivetrain - * - * dependency on other commands: DriveForTime - * - * pre-condition: robot is flush against the ramp of the outerworks in front of - * the moat - * - * post-condition: the robot has passed the moat and is in the next zone - * - * @author Meryem and Avi - * - */ - -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)); - - } -} diff --git a/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java b/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java index 9e1eb2eb..02499419 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java +++ b/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java @@ -1,5 +1,7 @@ package org.usfirst.frc.team3501.robot.commands; +import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime; + import edu.wpi.first.wpilibj.command.CommandGroup; /*** diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java new file mode 100755 index 00000000..31811723 --- /dev/null +++ b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java @@ -0,0 +1,143 @@ +package org.usfirst.frc.team3501.robot.commands.auton; + +import org.usfirst.frc.team3501.robot.Robot; + +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; + + // 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 DriveForDistance(POS1_DIST1, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS1_TURN1)); + addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED)); + horizontalDistToGoal = 0; + } else if (position == 2) { + + addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS2_TURN1)); + addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED)); + horizontalDistToGoal = 0; + + } else if (position == 3) { + + addSequential(new DriveForDistance(POS3_DIST1, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS3_TURN1)); + addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS3_TURN2)); + addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED)); + horizontalDistToGoal = 0; + + } else if (position == 4) { + + addSequential(new DriveForDistance(POS4_DIST1, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS4_TURN1)); + addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS4_TURN2)); + addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED)); + horizontalDistToGoal = 0; + + } else if (position == 5) { + + addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS5_TURN1)); + addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS5_TURN2)); + addSequential(new DriveForDistance(POS5_DIST3, DEFAULT_SPEED)); + horizontalDistToGoal = 0; + + } + } + + 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; + } +} 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 1e7ce585..1f465d95 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java +++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassMoat.java @@ -1,10 +1,19 @@ package org.usfirst.frc.team3501.robot.commands.auton; +import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime; + import edu.wpi.first.wpilibj.command.CommandGroup; /*** * This command will drive the robot through the moat. * + * The code drives the robot for a specific time at a specific speed up the ramp + * to the defense then drive over the defense at a different speed and time. + * + * dependency on subsystem: drivetrain + * + * dependency on other commands: DriveForTime + * * pre-condition: robot is flush against the ramp of the outerworks in front of * the moat * 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 364133f8..b27c6de1 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java +++ b/src/org/usfirst/frc/team3501/robot/commands/auton/PassRockWall.java @@ -1,10 +1,16 @@ package org.usfirst.frc.team3501.robot.commands.auton; +import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime; + import edu.wpi.first.wpilibj.command.CommandGroup; /*** * This command will drive the robot through the rock wall. * + * dependency on subsystems: drivetrain + * + * dependency on other commands: DriveForTime + * * pre-condition: robot is flush against the ramp of the outerworks in front of * the rock wall * @@ -14,9 +20,6 @@ import edu.wpi.first.wpilibj.command.CommandGroup; * */ -/** - * - */ public class PassRockWall extends CommandGroup { private final double BEG_TIME = 0; diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/DriveForTime.java b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveForTime.java new file mode 100755 index 00000000..eafc0408 --- /dev/null +++ b/src/org/usfirst/frc/team3501/robot/commands/driving/DriveForTime.java @@ -0,0 +1,63 @@ +package org.usfirst.frc.team3501.robot.commands.driving; + +import org.usfirst.frc.team3501.robot.Robot; + +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.command.Command; + +/** + * This command drives the robot for the specified time and specified speed. (If + * a speed is not specified, a default speed is used + * + * + * dependency on subsystems: drivetrain + * + * pre-condition: robot is on + * + * post condition: robot has driven for the specified amount of time + */ +public class DriveForTime extends Command { + + private final static double DEFAULT_SPEED = 0.5; + private double speed; + private double seconds; + + private Timer timer; + + public DriveForTime(double seconds, double speed) { + this.seconds = seconds; + this.speed = speed; + } + + public DriveForTime(double seconds) { + this(seconds, DEFAULT_SPEED); + } + + @Override + protected void initialize() { + timer = new Timer(); + timer.start(); + + Robot.driveTrain.setMotorSpeeds(speed, speed); + } + + @Override + protected void execute() { + } + + @Override + protected boolean isFinished() { + if (timer.get() >= seconds) + return true; + return false; + } + + @Override + protected void end() { + Robot.driveTrain.setMotorSpeeds(0, 0); + } + + @Override + protected void interrupted() { + } +}