From af279fe0f16dd39c9c36e27d018d78dfa7bfc70a Mon Sep 17 00:00:00 2001 From: Meryem Esa Date: Sat, 13 Feb 2016 17:54:42 -0800 Subject: [PATCH] add some of the constants for AlignToScore --- .../team3501/robot/commands/AlignToScore.java | 24 +++++++++++-------- 1 file changed, 14 insertions(+), 10 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java index bb3c3cb8..0d286e38 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java +++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java @@ -29,28 +29,32 @@ public class AlignToScore extends CommandGroup { 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 = 0; - private final double POS1_TURN1 = 0; + 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 = 0; - private final double POS2_TURN1 = 0; + 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 = 0; - private final double POS3_DIST2 = 0; - private final double POS3_TURN2 = 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 = 0; - private final double POS4_DIST2 = 0; - private final double POS4_TURN2 = 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 -- 2.30.2