From: Kevin Zhang Date: Tue, 16 Feb 2016 19:48:10 +0000 (-0800) Subject: Delete unused commands X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=3ba49259a2602804e83df66af0eb3512770028ab Delete unused commands --- diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index f5241d80..7ee2d3b2 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -124,7 +124,7 @@ public class Constants { public static class DeadReckoning { public static final double DEFAULT_SPEED = 0.5; - public static boolean isUsingTimeToPassDefense; + public static boolean isUsingTimeToPassDefense = true; // dead reckoning time and speed constants for driving through defenses public static double passRockWallTime = 0; diff --git a/src/org/usfirst/frc/team3501/robot/RobotMap.java b/src/org/usfirst/frc/team3501/robot/RobotMap.java deleted file mode 100755 index e3af2fd5..00000000 --- a/src/org/usfirst/frc/team3501/robot/RobotMap.java +++ /dev/null @@ -1,18 +0,0 @@ -package org.usfirst.frc.team3501.robot; -/** - * The RobotMap is a mapping from the ports sensors and actuators are wired into - * to a variable name. This provides flexibility changing wiring, makes checking - * the wiring easier and significantly reduces the number of magic numbers - * floating around. - */ -public class RobotMap { - // For example to map the left and right motors, you could define the - // following variables to use with your drivetrain subsystem. - // public static int leftMotor = 1; - // public static int rightMotor = 2; - - // If you are using multiple modules, make sure to define both the port - // number and the module. For example you with a rangefinder: - // public static int rangefinderPort = 1; - // public static int rangefinderModule = 1; -} 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 356c71a8..00000000 --- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java +++ /dev/null @@ -1,94 +0,0 @@ -package org.usfirst.frc.team3501.robot.commands; - -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 - * - * 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 double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0; - - private final double DEFAULT_SPEED = 0.5; - private final double maxTimeout = 5; - - // constants for position 1: low bar - private final double POS1_DIST1 = 0; - private final double POS1_TURN1 = 0; - private final double POS1_DIST2 = 0; - - // constants for position 2 - private final double POS2_DIST1 = 0; - private final double POS2_TURN1 = 0; - private final double POS2_DIST2 = 0; - - // constants for position 3 - private final double POS3_DIST1 = 0; - private final double POS3_TURN1 = 0; - private final double POS3_DIST2 = 0; - private final double POS3_TURN2 = 0; - private final double POS3_DIST3 = 0; - - // constants for position 4 - private final double POS4_DIST1 = 0; - private final double POS4_TURN1 = 0; - private final double POS4_DIST2 = 0; - private final double POS4_TURN2 = 0; - private final double POS4_DIST3 = 0; - - // constants for position 5 - private final double POS5_DIST1 = 0; - private final double POS5_TURN1 = 0; - private final double POS5_DIST2 = 0; - - public AlignToScore(int position) { - - switch (position) { - - // position 1 is always the low bar - case 1: - - addSequential(new DriveDistance(POS1_DIST1, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS1_TURN1, maxTimeout)); - addSequential(new DriveDistance(POS1_DIST2, DEFAULT_SPEED)); - - case 2: - - addSequential(new DriveDistance(POS2_DIST1, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS2_TURN1, maxTimeout)); - addSequential(new DriveDistance(POS2_DIST2, DEFAULT_SPEED)); - - case 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)); - - case 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)); - - case 5: - - addSequential(new DriveDistance(POS5_DIST1, DEFAULT_SPEED)); - addSequential(new TurnForAngle(POS5_TURN1, maxTimeout)); - addSequential(new DriveDistance(POS5_DIST2, DEFAULT_SPEED)); - } - } -} diff --git a/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java b/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java deleted file mode 100755 index 02499419..00000000 --- a/src/org/usfirst/frc/team3501/robot/commands/PassRockWall.java +++ /dev/null @@ -1,39 +0,0 @@ -package org.usfirst.frc.team3501.robot.commands; - -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 - * - * post-condition: the robot has passed the rock wall and is in the next zone - * - * @author Meryem and Avi - * - */ - -public class PassRockWall 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 PassRockWall() { - - 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/auton/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java deleted file mode 100755 index 0f7a79b2..00000000 --- a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java +++ /dev/null @@ -1,149 +0,0 @@ -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; - * } - */ -}