From ab237853303bb721842e1842d8cce2068d1344fc Mon Sep 17 00:00:00 2001 From: Meryem Esa Date: Sat, 30 Jan 2016 11:04:36 -0800 Subject: [PATCH] make constants for distance between neutral zone and courtyard and for speed --- .../robot/commands/DefaultAutonStrategy.java | 43 ++++++++++++++----- 1 file changed, 32 insertions(+), 11 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java index df21714a..bd6ea4b9 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java +++ b/src/org/usfirst/frc/team3501/robot/commands/DefaultAutonStrategy.java @@ -10,29 +10,41 @@ import edu.wpi.first.wpilibj.command.CommandGroup; */ public class DefaultAutonStrategy extends CommandGroup { + // in feet + // distance along a platform + final double DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD = 4.0; + // number from -1 to 1 + final double SPEED_FOR_PASSING_DEFENSE = 0.5; + public DefaultAutonStrategy(int position, Defense defense) { - /* - * pass defense drive forward do what has to be done to pass the defense - * drive forward aim face tower aim shooter toward goal shoot - */ // TODO: any variable that is not declared/instantiated are vars that need // to be tested for their value + // pass the defense switch (defense) { + case PORTCULLIS: - // we are assuming that the robot is also driving forward as the - // portcullis is being lifted + // we are assuming that LiftPortcullis() includes moving the defense arm + // and driving forward + addSequential(new LiftPortcullis()); + case SALLY_PORT: + // addSequential(); + case ROUGH_TERRAIN: - addSequential(new DriveForDistance(distance, speed)); + addSequential( + new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2, + SPEED_FOR_PASSING_DEFENSE)); case LOW_BAR: - addSequential(new DriveForDistance(distance, speed)); + addSequential( + new DriveForDistance(DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD + 2, + SPEED_FOR_PASSING_DEFENSE)); case CHEVAL_DE_FRISE: @@ -44,20 +56,29 @@ public class DefaultAutonStrategy extends CommandGroup { case MOAT: - addSequential(new DriveForDistance(distance, speed)); + addSequential(new DriveForDistance( + DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE)); case ROCK_WALL: - addSequential(new DriveForDistance(distance, speed)); + addSequential(new DriveForDistance( + DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE)); case RAMPART: - addSequential(new DriveForDistance(distance, speed)); + addSequential(new DriveForDistance( + DIST_BETWEEN_OUTER_WORKS__AND_COURTYARD, SPEED_FOR_PASSING_DEFENSE)); default: break; } + // aim towards goal + + // shoot + + // + } } -- 2.30.2