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Tuned some autonomous
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Nam Tran committed Mar 23, 2015
1 parent da4c36a commit 45588ed
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Showing 6 changed files with 32 additions and 20 deletions.
11 changes: 7 additions & 4 deletions src/org/team708/robot/AutoConstants.java
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Expand Up @@ -7,11 +7,12 @@ public final class AutoConstants {
*/
public static final double NINETY_DEGREE_TURN = 85.0;
public static final double TURN_SPEED = 0.6;
public static final double CLAW_LENGTH = 18.0; // The length, in inches, of the claw
public static final double CLAW_LENGTH = 22.0; // The length, in inches, of the claw
public static final double TOTE_TO_AUTOZONE_DISTANCE = 84.0; // inches
public static final double ENCODER_SPEED = 0.45;
public static final double INDEXER_UP_DISTANCE = 13.0;
public static final double INTAKE_ONE_TOTE_TIME = 3.0;
public static final double FIELD_WIDTH = 310;

/*
* Container To Autozone
Expand All @@ -33,8 +34,8 @@ public final class AutoConstants {
* Container Tote Spin Tote
*/
public static final double TOTE_DISTANCE_ONE = 21.0;
public static final double TOTE_TWO_TURN_ANGLE = 159.0;
public static final double TOTE_DISTANCE_SECOND = 58.0;
public static final double TOTE_TWO_TURN_ANGLE = 152.0;
public static final double TOTE_DISTANCE_SECOND = 53.0;

/*
* Container Tote Tote
Expand All @@ -50,7 +51,9 @@ public final class AutoConstants {
/*
* Three Totes
*/
public static final double THREE_TOTE_DISTANCE = 36.0;
public static final double THREE_TOTE_CONTAINER_DISTANCE = 12.0;
public static final double THREE_TOTE_TOTE_DISTANCE = 24.0;
public static final double THREE_TOTE_SMACK_ANGLE = 60.0;

/*
* Deal With Container
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2 changes: 1 addition & 1 deletion src/org/team708/robot/Constants.java
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Expand Up @@ -47,7 +47,7 @@ public final class Constants {
/*
* Game Elements
*/
public static final double TOTE_HEIGHT = 13.5;
public static final double TOTE_HEIGHT = 14.0;
public static final double SCORE_TOTE = 1.0;

/*
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2 changes: 2 additions & 0 deletions src/org/team708/robot/Robot.java
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Expand Up @@ -10,6 +10,7 @@
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

import org.team708.robot.commands.DoNothing;
import org.team708.robot.commands.autonomous.ShoveAll;
//import org.team708.robot.commands.autonomous.ClearStep;
//import org.team708.robot.commands.autonomous.HockeyStickClearToAutoZone;
//import org.team708.robot.commands.autonomous.ThreeContainersToAuto;
Expand Down Expand Up @@ -177,6 +178,7 @@ private void queueAutonomousModes() {
autonomousMode.addObject("Container Tote", new ContainerToteByOptical());
autonomousMode.addObject("6) Container Tote Spin Tote", new ContainerToteSpinToteByOptical());
autonomousMode.addObject("7) Container Tote Tote", new ContainerToteToteByOptical());
autonomousMode.addObject("8) Shove All", new ShoveAll());
// autonomousMode.addObject("Drive By IR", new DriveToIRDistance(5.0,
// 0.0, 0.9, 0.1));
// autonomousMode.addObject("Drive in Square", new DriveInSquare());
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12 changes: 4 additions & 8 deletions src/org/team708/robot/commands/autonomous/ShoveAll.java
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Expand Up @@ -2,10 +2,9 @@

import org.team708.robot.AutoConstants;
import org.team708.robot.commands.autonomous.steps.DriveOpticalAndEncoder;
import org.team708.robot.commands.clawElevator.IncrementClawOne;
import org.team708.robot.commands.claw.CloseClaw;
import org.team708.robot.commands.drivetrain.DriveStraightToEncoderDistance;
import org.team708.robot.commands.drivetrain.TurnToDegrees;
import org.team708.robot.commands.intake.IntakeByTime;

import edu.wpi.first.wpilibj.command.CommandGroup;

Expand All @@ -14,14 +13,11 @@
*/
public class ShoveAll extends CommandGroup {

private double FIELD_WIDTH = 310;

public ShoveAll() {
public ShoveAll() {

addParallel(new IntakeByTime(5.0));
addSequential(new IncrementClawOne());
addParallel(new CloseClaw());

addSequential(new DriveStraightToEncoderDistance(FIELD_WIDTH));
addSequential(new DriveStraightToEncoderDistance(AutoConstants.FIELD_WIDTH));
addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, AutoConstants.NINETY_DEGREE_TURN));

addSequential(new DriveOpticalAndEncoder(AutoConstants.TOTE_TO_AUTOZONE_DISTANCE));
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20 changes: 13 additions & 7 deletions src/org/team708/robot/commands/autonomous/optical/ThreeTotesByOptical.java
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Expand Up @@ -2,6 +2,7 @@

import org.team708.robot.AutoConstants;
import org.team708.robot.commands.autonomous.steps.DriveByOpticalToAuto;
import org.team708.robot.commands.autonomous.steps.DriveOpticalAndEncoder;
import org.team708.robot.commands.claw.CloseClaw;
import org.team708.robot.commands.drivetrain.DriveStraightToEncoderDistance;
import org.team708.robot.commands.drivetrain.TurnToDegrees;
Expand All @@ -17,18 +18,23 @@ public class ThreeTotesByOptical extends CommandGroup {
public ThreeTotesByOptical() {
addParallel(new CloseClaw());
//pick up first tote and move to second
addSequential(new IndexerUp());
addSequential(new DriveStraightToEncoderDistance(AutoConstants.THREE_TOTE_DISTANCE, AutoConstants.ENCODER_SPEED));
addParallel(new IndexerUp());
addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, -AutoConstants.THREE_TOTE_SMACK_ANGLE));
addSequential(new DriveStraightToEncoderDistance(AutoConstants.THREE_TOTE_CONTAINER_DISTANCE, AutoConstants.ENCODER_SPEED));
addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, AutoConstants.THREE_TOTE_SMACK_ANGLE));
addSequential(new DriveStraightToEncoderDistance(AutoConstants.THREE_TOTE_TOTE_DISTANCE));

//pick up second tote and move to third
addSequential(new IndexerUp());
addSequential(new DriveStraightToEncoderDistance(AutoConstants.THREE_TOTE_DISTANCE, AutoConstants.ENCODER_SPEED));
addParallel(new IndexerUp());
addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, -AutoConstants.THREE_TOTE_SMACK_ANGLE));
addSequential(new DriveStraightToEncoderDistance(AutoConstants.THREE_TOTE_CONTAINER_DISTANCE, AutoConstants.ENCODER_SPEED));
addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, AutoConstants.THREE_TOTE_SMACK_ANGLE));
addSequential(new DriveStraightToEncoderDistance(AutoConstants.THREE_TOTE_TOTE_DISTANCE));

//pick up third tote and move to auto
addSequential(new IndexerUp());
addParallel(new IndexerUp());
addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, AutoConstants.NINETY_DEGREE_TURN));
addSequential(new DriveByOpticalToAuto());
addSequential(new DriveStraightToEncoderDistance(AutoConstants.CLAW_LENGTH, AutoConstants.ENCODER_SPEED));
addSequential(new DriveOpticalAndEncoder(AutoConstants.TOTE_TO_AUTOZONE_DISTANCE));

//turn 90 degrees counterclockwise
addSequential(new TurnToDegrees(AutoConstants.TURN_SPEED, -AutoConstants.NINETY_DEGREE_TURN));
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5 changes: 5 additions & 0 deletions src/org/team708/robot/commands/drivetrain/TurnToDegrees.java
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Expand Up @@ -12,6 +12,11 @@ public class TurnToDegrees extends Command {
private double rotationSpeed;
private double goalDegrees;

/**
* Constructor
* @param rotationSpeed
* @param goalDegrees
*/
public TurnToDegrees(double rotationSpeed, double goalDegrees) {
// Use requires() here to declare subsystem dependencies
requires(Robot.drivetrain);
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