From ff9a504fa2aa658265087e163120b628b6da4129 Mon Sep 17 00:00:00 2001
From: Meryem Esa <meresa14@gmail.com>
Date: Wed, 10 Feb 2016 19:59:02 -0800
Subject: [PATCH] add method to calculate angle to turn after passing through
 defense to shoot

---
 .../team3501/robot/commands/AlignToScore.java | 40 +++++++++++++++++--
 .../team3501/robot/subsystems/DriveTrain.java |  2 +-
 2 files changed, 37 insertions(+), 5 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
index a2f83d42..97b8ad2c 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AlignToScore.java
@@ -16,7 +16,9 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
  *
  */
 public class AlignToScore extends CommandGroup {
-  private final double DIST_CENTER_OF_MASS_TO_FRONT_OF_ROBOT = 0;
+  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;
 
@@ -49,6 +51,8 @@ public class AlignToScore extends CommandGroup {
   private final double POS5_TURN1 = 0;
   private final double POS5_DIST2 = 0;
 
+  public double horizontalDistToGoal;
+
   public AlignToScore(int position) {
 
     switch (position) {
@@ -59,12 +63,14 @@ public class AlignToScore extends CommandGroup {
       addSequential(new DriveForDistance(POS1_DIST1, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS1_TURN1));
       addSequential(new DriveForDistance(POS1_DIST2, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
 
     case 2:
 
       addSequential(new DriveForDistance(POS2_DIST1, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS2_TURN1));
       addSequential(new DriveForDistance(POS2_DIST2, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
 
     case 3:
 
@@ -73,6 +79,7 @@ public class AlignToScore extends CommandGroup {
       addSequential(new DriveForDistance(POS3_DIST2, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS3_TURN2));
       addSequential(new DriveForDistance(POS3_DIST3, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
 
     case 4:
 
@@ -81,17 +88,42 @@ public class AlignToScore extends CommandGroup {
       addSequential(new DriveForDistance(POS4_DIST2, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS4_TURN2));
       addSequential(new DriveForDistance(POS4_DIST3, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
 
     case 5:
 
       addSequential(new DriveForDistance(POS5_DIST1, DEFAULT_SPEED));
       addSequential(new TurnForAngle(POS5_TURN1));
       addSequential(new DriveForDistance(POS5_DIST2, DEFAULT_SPEED));
+      horizontalDistToGoal = 0;
     }
   }
 
-  public static void calculatePath() {
-    double leftDistance = Robot.shooter.getLeftDistanceToTower();
-    double rightDistance = Robot.shooter.getRightDistanceToTower();
+  public static double calculatePath(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;
   }
 }
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 41a8ac16..0d1db15b 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -119,7 +119,7 @@ public class DriveTrain extends PIDSubsystem {
     return leftLidar.pidGet();
   }
 
-  public double getsRightLidarDistance() {
+  public double getRightLidarDistance() {
     return rightLidar.pidGet();
   }
 
-- 
2.30.2