From 9728080f491e9fb09795494349dba1297f447c0f Mon Sep 17 00:00:00 2001 From: Kevin Zhang Date: Wed, 17 Feb 2016 15:42:09 -0800 Subject: [PATCH] add constants same format as meryem did to constants and also add time dead reckoning --- .../usfirst/frc/team3501/robot/Constants.java | 76 ++++++++ .../robot/commands/auton/AlignToScore.java | 182 ++++++++++-------- .../commands/auton/DefaultAutonStrategy.java | 4 +- .../robot/commands/shooter/Shoot.java | 3 +- 4 files changed, 183 insertions(+), 82 deletions(-) mode change 100755 => 100644 src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java index 862459d6..2d3cd43d 100644 --- a/src/org/usfirst/frc/team3501/robot/Constants.java +++ b/src/org/usfirst/frc/team3501/robot/Constants.java @@ -175,6 +175,82 @@ public class Constants { // height } + public static class Auton { + /* + * Distance dead reckoning constants + */ + public static final double POS1_DIST1 = 109; + public static final double POS1_TURN1 = 60; + public static final double POS1_DIST2 = 0; + + // constants for position 2 + public static final double POS2_DIST1 = 140; + public static final double POS2_TURN1 = 60; + public static final double POS2_DIST2 = 0; + + // constants for position 3 + public static final double POS3_DIST1 = 0; + public static final double POS3_TURN1 = 90; + public static final double POS3_DIST2 = 35.5; + public static final double POS3_TURN2 = -90; + public static final double POS3_DIST3 = 0; + + // constants for position 4 + public static final double POS4_DIST1 = 0; + public static final double POS4_TURN1 = -90; + public static final double POS4_DIST2 = 18.5; + public static final double POS4_TURN2 = 90; + public static final double POS4_DIST3 = 0; + + // constants for position 5 + public static final double POS5_DIST1 = 0; + public static final double POS5_TURN1 = -90; + public static final double POS5_DIST2 = 72.5; + public static final double POS5_TURN2 = 90; + public static final double POS5_DIST3 = 0; + public static final double DRIVE_MAX_TIMEOUT = 3.0; + public static final double TURN_MAX_TIMEOUT = 5.0; + + /* + * Time dead Reckoning constants + */ + public static final double POS1_DIST1_TIME = 109; + public static final double POS1_DRIVE_MAXSPEED = 0.5; + public static final double POS1_TURN1_TIME = 60; + public static final double POS1_TURN_MAXSPEED = 0.5; + public static final double POS1_DIST2_TIME = 0; + + // constants for position 2 + + public static final double POS2_DIST1_TIME = 109; + public static final double POS2_DRIVE_MAXSPEED = 0.5; + public static final double POS2_TURN1_TIME = 60; + public static final double POS2_TURN_MAXSPEED = 0.5; + public static final double POS2_DIST2_TIME = 0; + + // constants for position 3 + + public static final double POS3_DIST1_TIME = 109; + public static final double POS3_DRIVE_MAXSPEED = 0.5; + public static final double POS3_TURN1_TIME = 60; + public static final double POS3_TURN_MAXSPEED = 0.5; + public static final double POS3_DIST2_TIME = 0; + // constants for position 4 + + public static final double POS4_DIST1_TIME = 109; + public static final double POS4_DRIVE_MAXSPEED = 0.5; + public static final double POS4_TURN1_TIME = 60; + public static final double POS4_TURN_MAXSPEED = 0.5; + public static final double POS4_DIST2_TIME = 0; + // constants for position 5 + + public static final double POS5_DIST1_TIME = 109; + public static final double POS5_DRIVE_MAXSPEED = 0.5; + public static final double POS5_TURN1_TIME = 60; + public static final double POS5_TURN_MAXSPEED = 0.5; + public static final double POS5_DIST2_TIME = 0; + } + public enum Direction { UP, DOWN, RIGHT, LEFT, FORWARD, BACKWARD; } diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java old mode 100755 new mode 100644 index 0f7a79b2..f2c577ce --- a/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java +++ b/src/org/usfirst/frc/team3501/robot/commands/auton/AlignToScore.java @@ -1,6 +1,8 @@ package org.usfirst.frc.team3501.robot.commands.auton; +import org.usfirst.frc.team3501.robot.Constants; import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; +import org.usfirst.frc.team3501.robot.commands.driving.DriveForTime; import org.usfirst.frc.team3501.robot.commands.driving.TurnForAngle; import edu.wpi.first.wpilibj.command.CommandGroup; @@ -24,9 +26,6 @@ import edu.wpi.first.wpilibj.command.CommandGroup; * */ 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; @@ -36,85 +35,110 @@ public class AlignToScore extends CommandGroup { // 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) { - + if (Constants.DeadReckoning.isUsingTimeToPassDefense) { + if (position == 1) { + addSequential(new DriveForTime(Constants.Auton.POS1_DIST1_TIME, + Constants.Auton.POS1_DRIVE_MAXSPEED)); + addSequential(new TurnForAngle(Constants.Auton.POS1_TURN1, + Constants.Auton.POS1_TURN_MAXSPEED)); + addSequential(new DriveDistance(Constants.Auton.POS1_DIST2_TIME, + Constants.Auton.POS1_DRIVE_MAXSPEED)); + horizontalDistToGoal = 0; + } + else if (position == 2) { + addSequential(new DriveForTime(Constants.Auton.POS2_DIST1_TIME, + Constants.Auton.POS2_DRIVE_MAXSPEED)); + addSequential(new TurnForAngle(Constants.Auton.POS2_TURN1, + Constants.Auton.POS2_TURN_MAXSPEED)); + addSequential(new DriveDistance(Constants.Auton.POS2_DIST2_TIME, + Constants.Auton.POS2_DRIVE_MAXSPEED)); + horizontalDistToGoal = 0; + } + else if (position == 3) { + addSequential(new DriveForTime(Constants.Auton.POS3_DIST1_TIME, + Constants.Auton.POS3_DRIVE_MAXSPEED)); + addSequential(new TurnForAngle(Constants.Auton.POS3_TURN1, + Constants.Auton.POS3_TURN_MAXSPEED)); + addSequential(new DriveDistance(Constants.Auton.POS3_DIST2_TIME, + Constants.Auton.POS3_DRIVE_MAXSPEED)); + horizontalDistToGoal = 0; + } + else if (position == 4) { + addSequential(new DriveForTime(Constants.Auton.POS4_DIST1_TIME, + Constants.Auton.POS4_DRIVE_MAXSPEED)); + addSequential(new TurnForAngle(Constants.Auton.POS4_TURN1, + Constants.Auton.POS4_TURN_MAXSPEED)); + addSequential(new DriveDistance(Constants.Auton.POS4_DIST2_TIME, + Constants.Auton.POS4_DRIVE_MAXSPEED)); + horizontalDistToGoal = 0; + } + else if (position == 5) { + addSequential(new DriveForTime(Constants.Auton.POS5_DIST1_TIME, + Constants.Auton.POS5_DRIVE_MAXSPEED)); + addSequential(new TurnForAngle(Constants.Auton.POS5_TURN1, + Constants.Auton.POS5_TURN_MAXSPEED)); + addSequential(new DriveDistance(Constants.Auton.POS5_DIST2_TIME, + Constants.Auton.POS5_DRIVE_MAXSPEED)); + horizontalDistToGoal = 0; + } + } + else { // 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; - + if (position == 1) { + addSequential(new DriveDistance(Constants.Auton.POS1_DIST1, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + addSequential(new TurnForAngle(Constants.Auton.POS1_TURN1, + Constants.Auton.TURN_MAX_TIMEOUT)); + addSequential(new DriveDistance(Constants.Auton.POS1_DIST2, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + } else if (position == 2) { + + addSequential(new DriveDistance(Constants.Auton.POS2_DIST1, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + addSequential(new TurnForAngle(Constants.Auton.POS2_TURN1, + Constants.Auton.TURN_MAX_TIMEOUT)); + addSequential(new DriveDistance(Constants.Auton.POS2_DIST2, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + + } else if (position == 3) { + + addSequential(new DriveDistance(Constants.Auton.POS3_DIST1, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + addSequential(new TurnForAngle(Constants.Auton.POS3_TURN1, maxTimeout)); + addSequential(new DriveDistance(Constants.Auton.POS3_DIST2, + Constants.Auton.TURN_MAX_TIMEOUT)); + addSequential(new TurnForAngle(Constants.Auton.POS3_TURN2, maxTimeout)); + addSequential(new DriveDistance(Constants.Auton.POS3_DIST3, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + + } else if (position == 4) { + + addSequential(new DriveDistance(Constants.Auton.POS4_DIST1, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + addSequential(new TurnForAngle(Constants.Auton.POS4_TURN1, maxTimeout)); + addSequential(new DriveDistance(Constants.Auton.POS4_DIST2, + Constants.Auton.TURN_MAX_TIMEOUT)); + addSequential(new TurnForAngle(Constants.Auton.POS4_TURN2, maxTimeout)); + addSequential(new DriveDistance(Constants.Auton.POS4_DIST3, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + + } else if (position == 5) { + + addSequential(new DriveDistance(Constants.Auton.POS5_DIST1, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + addSequential(new TurnForAngle(Constants.Auton.POS5_TURN1, maxTimeout)); + addSequential(new DriveDistance(Constants.Auton.POS5_DIST2, + Constants.Auton.TURN_MAX_TIMEOUT)); + addSequential(new TurnForAngle(Constants.Auton.POS5_TURN2, maxTimeout)); + addSequential(new DriveDistance(Constants.Auton.POS5_DIST3, + Constants.Auton.DRIVE_MAX_TIMEOUT)); + } } } - // following commented out method is calculations for path of robot in auton // after passing through defense using two lidars /* @@ -122,7 +146,7 @@ public class AlignToScore extends CommandGroup { * 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 @@ -132,7 +156,7 @@ public class AlignToScore extends CommandGroup { * .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 { @@ -140,9 +164,9 @@ public class AlignToScore extends CommandGroup { * .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/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java index 5b6453dd..0083cf55 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java +++ b/src/org/usfirst/frc/team3501/robot/commands/auton/DefaultAutonStrategy.java @@ -5,6 +5,7 @@ import org.usfirst.frc.team3501.robot.Constants.Defense; import org.usfirst.frc.team3501.robot.commands.shooter.Shoot; import edu.wpi.first.wpilibj.command.CommandGroup; +import edu.wpi.first.wpilibj.command.WaitCommand; /** * The default autonomous strategy involves passing the defense that is in front @@ -42,7 +43,8 @@ public class DefaultAutonStrategy extends CommandGroup { else if (defense == Constants.Defense.RAMPART) addSequential(new PassRampart()); - addSequential(new AimAndAlign()); + addSequential(new AlignToScore(position)); + addSequential(new WaitCommand(5.0)); addSequential(new Shoot()); } diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java index 90105e0c..31fb261e 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java +++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java @@ -1,6 +1,6 @@ package org.usfirst.frc.team3501.robot.commands.shooter; + import org.usfirst.frc.team3501.robot.Robot; -import org.usfirst.frc.team3501.robot.commands.auton.AimAndAlign; import edu.wpi.first.wpilibj.command.CommandGroup; import edu.wpi.first.wpilibj.command.WaitCommand; @@ -10,7 +10,6 @@ public class Shoot extends CommandGroup { public boolean usePhotogate; public Shoot() { - addSequential(new AimAndAlign()); addSequential(new WaitCommand(3.0)); addSequential(new runShooter()); addSequential(new WaitCommand(3.0)); -- 2.30.2