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src/org/usfirst/frc/team365/robot/CenterLeftGentleTurnsAlternative.java
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| package org.usfirst.frc.team365.robot; | ||
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| // Original author: Audrey | ||
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| public class CenterLeftGentleTurns { | ||
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| public static final double INCHES = Robot.INCHES_TO_ENCTICKS; | ||
| public static final double FEET = 12 * INCHES; | ||
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| static void run(Robot us) { | ||
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| switch(us.autoStep) { | ||
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| case 1: | ||
| AutoSimplify.deployGrabber(us); | ||
| AutoSimplify.halfTurnLeft(us, -45, .8); | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| break; | ||
| case 2: | ||
| AutoSimplify.deployGrabber(us); | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.goStraight(us, 60 * INCHES, -45, .5); | ||
| break; | ||
| case 3: | ||
| AutoSimplify.deployGrabber(us); | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.halfTurnRight(us, 0, .8); | ||
| break; | ||
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| case 4: | ||
| AutoSimplify.deployGrabber(us); | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.goStraight(us, 13 * INCHES, 0, .5); | ||
| break; | ||
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| case 5: | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.launchCube(us); | ||
| break; | ||
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| case 6: | ||
| AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT); | ||
| // AutoSimplify.goStraight(us, 54 * INCHES, 0, -0.4); //2.75 | ||
| AutoSimplify.goStraight(us, 2.1*FEET, 0, -0.5); // alternate back up with slow turns | ||
| break; | ||
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| case 7: | ||
| AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT); | ||
| AutoSimplify.openGrabber(us); | ||
| // AutoSimplify.autoPIDTurn(us, 90); | ||
| AutoSimplify.halfTurnLeft(us, -65, -0.8); // alternate back up with slow turns | ||
| break; | ||
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| case 8: | ||
| AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT); | ||
| AutoSimplify.openGrabber(us); | ||
| // AutoSimplify.goStraight(us, 4.0 * FEET, 90, 0.4); //3.2,, 4.6 | ||
| AutoSimplify.goStraight(us, 3.1*FEET, -65, -0.5); // alternate back up with slow turns | ||
| break; | ||
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| case 9: | ||
| AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT); | ||
| AutoSimplify.autoPIDTurn(us, 0); | ||
| AutoSimplify.openGrabber(us); | ||
| break; | ||
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| case 10: | ||
| AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT); | ||
| AutoSimplify.goStraight(us, 15 * INCHES, 0, 0.4); //1.2 | ||
| break; | ||
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| case 11: | ||
| AutoSimplify.grabCube(us); | ||
| break; | ||
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| case 12: | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.autoPIDTurn(us, -70); //-70 | ||
| break; | ||
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| case 13: | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.goStraight(us, 3.0 * FEET, -70, 0.5); //check distance? i'm guessing to short,, nope too long | ||
| break; | ||
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| case 14: | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.halfTurnRight(us, -2, 0.8); | ||
| /*if (us.navX.getYaw() >= -3) { | ||
| us.driveRobot(0, 0); | ||
| us.resetDriveEncoders(); | ||
| us.autoStep = 4; | ||
| } | ||
| else | ||
| us.driveRobot(0.6, 0);*/ | ||
| //AutoSimplify.autoPIDTurn(us, 0); | ||
| break; | ||
| case 15: | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.goStraight(us, 12 * INCHES, -2, 0.5); | ||
| break; | ||
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| case 16: | ||
| AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH); | ||
| AutoSimplify.launchCube(us); | ||
| us.driveRobot(0, 0); | ||
| break; | ||
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| case 17: | ||
| us.driveRobot(0, 0); | ||
| break; | ||
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| /* case 1: | ||
| //goStraight(encoderTicks, navx setPoint, startPower - forwards/backwards is pos/neg) | ||
| us.goStraight(2 * FEET, 0, 0.5); | ||
| break; | ||
| case 2: | ||
| //turnToAngle(navx setPoint, maxPower) | ||
| us.turnToAngle(-52, 1); | ||
| break; | ||
| case 3: | ||
| us.goStraight(6 * FEET, -55, 0.5); | ||
| break; | ||
| case 4: | ||
| us.turnToAngle(0, 1); | ||
| break; | ||
| case 5: | ||
| us.goStraight(2.24 * FEET, 0, 0.5); | ||
| us.autoTimer.reset(); | ||
| break; | ||
| case 6: | ||
| if (us.autoTimer.get() > 1.0) { | ||
| us.autoTimer.reset(); | ||
| us.autoStep = 7; | ||
| } | ||
| break; | ||
| case 7: | ||
| us.goStraight(4 * FEET, 0, -0.5); | ||
| break; | ||
| case 8: | ||
| us.turnToAngle(90, 1); | ||
| break; | ||
| case 9: | ||
| us.goStraight(4.167 * FEET, 90, 0.5); | ||
| break; | ||
| case 10: | ||
| us.turnToAngle(0, 1); | ||
| break; | ||
| */ | ||
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| } | ||
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| } | ||
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| } |