/**
* This command group will be used in autonomous. Based on what position the
- * robot is in, the robot will align with the goal
+ * robot is in, the robot will align with the goal. In the Software 2015-2016
+ * Google folder is a picture explaining each of the cases.
+ *
+ * dependency on sensors: lidars, encoders, gyro dependency on subsystems:
+ * drivetrain dependency on other commands: TurnForAngle(), DriveForDistance()
*
* pre-condition: robot is flush against a defense at the specified position in
* the opponent's courtyard
}
}
- public static double calculatePath(int position,
+ public static double calculateAngleToTurn(int position,
double horizontalDistToGoal) {
double leftDist = Robot.driveTrain.getLeftLidarDistance();
double rightDist = Robot.driveTrain.getRightLidarDistance();