From 0b403e6022b2c38e54e77e3d17d30dc5fc54ef57 Mon Sep 17 00:00:00 2001 From: Meryem Esa Date: Wed, 10 Feb 2016 19:29:07 -0800 Subject: [PATCH] add skeleton code for calculating angle to turn for shooting --- .../team3501/robot/commands/AlignToScore.java | 97 +++++++++++++++++++ .../team3501/robot/subsystems/Shooter.java | 25 +++-- 2 files changed, 113 insertions(+), 9 deletions(-) create mode 100755 src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java new file mode 100755 index 00000000..a2f83d42 --- /dev/null +++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java @@ -0,0 +1,97 @@ +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 + * + * 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; + + // 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 DriveForDistance(POS1_DIST1, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS1_TURN1)); + addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED)); + + case 2: + + addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS2_TURN1)); + addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED)); + + case 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)); + + case 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)); + + case 5: + + addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED)); + addSequential(new TurnForAngle(POS5_TURN1)); + addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED)); + } + } + + public static void calculatePath() { + double leftDistance = Robot.shooter.getLeftDistanceToTower(); + double rightDistance = Robot.shooter.getRightDistanceToTower(); + } +} diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java index f01d8c27..5c92506d 100755 --- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java @@ -4,18 +4,19 @@ import org.usfirst.frc.team3501.robot.Constants; import org.usfirst.frc.team3501.robot.Lidar; import org.usfirst.frc.team3501.robot.MathLib; +import edu.wpi.first.wpilibj.AnalogPotentiometer; import edu.wpi.first.wpilibj.CANTalon; import edu.wpi.first.wpilibj.CounterBase.EncodingType; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.Encoder; -import edu.wpi.first.wpilibj.I2C; import edu.wpi.first.wpilibj.command.Subsystem; /*** - * The Shooter consists of a platform and wheel, each controlled by separate - * motors. The piston controlling the platform pushes the ball onto the wheel. - * The wheel is controlled by a motor, which is running before the ball is - * pushed onto the wheel. The spinning wheel propels the ball. + * The Shooter consists of a platform and wheel, each controlled by + * separate motors. The piston controlling the platform pushes the ball onto the + * wheel. The wheel is controlled by a motor, which is running before the ball + * is pushed + * onto the wheel. The spinning wheel propels the ball. * * @author superuser * @@ -23,6 +24,7 @@ import edu.wpi.first.wpilibj.command.Subsystem; public class Shooter extends Subsystem { private CANTalon shooter; + private CANTalon angleAdjuster; private DoubleSolenoid hood, punch; private Encoder encoder; private Lidar lidar; @@ -31,13 +33,14 @@ public class Shooter extends Subsystem { shooter = new CANTalon(Constants.Shooter.PORT); hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD, Constants.Shooter.HOOD_REVERSE); + angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT); punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD, Constants.Shooter.PUNCH_REVERSE); encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A, Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X); - lidar = new Lidar(I2C.Port.kMXP); + lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT); } /*** @@ -53,8 +56,12 @@ public class Shooter extends Subsystem { } public void setSpeed(double speed) { - speed = MathLib.constrain(speed, -1, 1); - shooter.set(speed); + if (speed > 1.0) + shooter.set(1.0); + else if (speed < -1.0) + shooter.set(-1.0); + else + shooter.set(speed); } public void stop() { @@ -73,7 +80,7 @@ public class Shooter extends Subsystem { } // Punch Commands - public void punch() { + public void extendPunch() { punch.set(Constants.Shooter.punch); } -- 2.30.2