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1169 lines (1079 loc) · 31.8 KB
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package org.usfirst.frc.team470.robot;
import edu.wpi.first.wpilibj.Timer;
public class AutoRoutine {
//Timer for timed delays
public Timer timer = new Timer();
//Autonomous Routines
final static int DO_NOTHING = 0;
//Center Start
final static int CENTER_SWITCH = 1;
final static int CENTER_SWITCH_2_CUBE = 2;
//Left Start
final static int LEFT_ONLY_SWITCH = 3;
final static int LEFT_ONLY_SCALE = 4;
final static int LEFT_START_SWITCH = 5;
final static int LEFT_START_SCALE = 6;
final static int LEFT_START_2_CUBE = 7;
//Right Start
final static int RIGHT_ONLY_SWITCH = 8;
final static int RIGHT_ONLY_SCALE = 9;
final static int RIGHT_START_SWITCH = 10;
final static int RIGHT_START_SCALE = 11;
final static int RIGHT_START_2_CUBE = 12;
//Autonomous States
final static int START = 0;
final static int CENTER_SWITCH_EXTEND_INTAKE = 1;
final static int CENTER_SWITCH_EJECT_CUBE = 2;
final static int CENTER_STRAFE_DIAGONALLY = 3;
final static int CENTER_MOVE_BACKWARD = 4;
final static int CENTER_CROSS_SWITCH = 5;
final static int CENTER_APPROACH_CUBE = 6;
final static int CENTER_GRAB_CUBE_DELAY = 7;
final static int CENTER_CLEAR_CUBE_ZONE = 8;
final static int MOVE_Y_DISTANCE_FWD = 9;
final static int BACKUP = 10;
final static int LEFT_RIGHT_DELAY_BEFORE_TURN = 11;
final static int LEFT_RIGHT_TURN_1 = 12;
final static int LEFT_RIGHT_DELAY_AFTER_TURN = 13;
final static int CREEP_FWD = 14;
final static int LEFT_RIGHT_EXTEND_INTAKE = 15;
final static int LEFT_RIGHT_EJECT_CUBE = 16;
final static int CROSS_SCALE = 17;
final static int DELAY_AFTER_CROSS_SCALE = 18;
final static int TURN_TO_CUBE = 19;
final static int TURN_TO_CUBE_DELAY = 20;
final static int TWO_CUBE_ALIGN_CUBE = 21;
final static int TWO_CUBE_APPROACH_CUBE = 22;
final static int TWO_CUBE_GRAB_CUBE_DELAY = 23;
final static int TURN_TO_SCALE = 24;
final static int TURN_TO_SCALE_DELAY = 25;
final static int TWO_CUBE_RAISE_DELAY = 26;
final static int STOP = 255;
//Target plates
final static int NONE = 0;
final static int LEFT_SWITCH = 1;
final static int RIGHT_SWITCH = 2;
final static int LEFT_SCALE = 3;
final static int RIGHT_SCALE = 4;
final static int CROSS_LEFT_SCALE = 5;
final static int CROSS_RIGHT_SCALE = 6;
final static int CROSS_LEFT_SWITCH = 7;
final static int CROSS_RIGHT_SWITCH = 8;
public static int selectedAutonRoutine;
public static int currentAutonState = START;
public static int targetPlate = NONE;
public static int secondTargetPlate = NONE;
public static int autonDelayCount = 0;
private static int cubeCount = 0;
private double alarmTime;
public static String fms_plate_assignment;
public AutoRoutine(){
timer.start();
}
public void setSelectedAutonRoutine(int routine){
selectedAutonRoutine = routine;
}
public void setFmsPlateAssignment(String assignment){
fms_plate_assignment = assignment;
}
public void updateAutoRoutine(){
switch(currentAutonState){
case START:
stateActionStart();
break;
case CENTER_STRAFE_DIAGONALLY:
stateActionStrafeDiagonally();
break;
case CENTER_SWITCH_EXTEND_INTAKE:
stateActionCenSwPivotIntakeDelay();
break;
case CENTER_SWITCH_EJECT_CUBE:
stateActionCenSwEjectCubeDelay();
break;
case CENTER_MOVE_BACKWARD:
stateActionCenMoveBackward();
break;
case CENTER_CROSS_SWITCH:
stateActionCenCrossSwitch();
break;
case CENTER_APPROACH_CUBE:
stateActionCenApproachCube();
break;
case CENTER_GRAB_CUBE_DELAY:
stateActionCenGrabCubeDelay();
break;
case CENTER_CLEAR_CUBE_ZONE:
stateActionCenClearCubeZone();
break;
case MOVE_Y_DISTANCE_FWD:
stateActionMoveYDistance();
break;
case LEFT_RIGHT_DELAY_BEFORE_TURN:
stateActionLftRtDelayBeforeTurn();
break;
case LEFT_RIGHT_DELAY_AFTER_TURN:
stateActionLftRtDelayAfterTurn();
break;
case CREEP_FWD:
stateActionCreepFwd();
break;
case LEFT_RIGHT_EXTEND_INTAKE:
stateActionLftRtExtendIntake();
break;
case LEFT_RIGHT_EJECT_CUBE:
stateActionLftRtEjectCube();
break;
case LEFT_RIGHT_TURN_1:
stateActionLftRtTurn1();
break;
case CROSS_SCALE:
stateActionCrossScale();
break;
case DELAY_AFTER_CROSS_SCALE:
stateActionDelayAfterCrossScale();
break;
case BACKUP:
stateActionBackup();
break;
case TURN_TO_CUBE:
stateActionTurnToCube();
break;
case TURN_TO_CUBE_DELAY:
stateActionTurnToCubeDelay();
break;
case TWO_CUBE_ALIGN_CUBE:
stateActionTwoCubeAlignCube();
break;
case TWO_CUBE_APPROACH_CUBE:
stateActionTwoCubeApproachCube();
break;
case TWO_CUBE_GRAB_CUBE_DELAY:
stateActionTwoCubeGrabCubeDelay();
break;
case TURN_TO_SCALE:
stateActionTurnToScale();
break;
case TURN_TO_SCALE_DELAY:
stateActionTurnToScaleDelay();
break;
case TWO_CUBE_RAISE_DELAY:
stateActionRaiseCubeDelay();
break;
case STOP:
default:
stateActionStop();
}
}
private void stateActionRaiseCubeDelay() {
if(timer.get()>= alarmTime){
Drivetrain.setMoveDistance(18, 0.3, 0, 0);
currentAutonState = CREEP_FWD;
}
else
{
//Wait for timer to expire
}
}
private void stateActionTwoCubeAlignCube() {
if(!Drivetrain.isMovingToVisionTarget){
Drivetrain.setMoveDistance(36.0,
0.5,
0,0);
currentAutonState = TWO_CUBE_APPROACH_CUBE;
}
else{
//Wait for align to finish
}
}
private void stateActionTwoCubeGrabCubeDelay(){
if(timer.get()>= alarmTime){
Intake.setIntakeSpeed(-0.15);
//Elevator.goToPosition(Constants.HighScalePosition);
if((secondTargetPlate == LEFT_SWITCH) ||
(secondTargetPlate == CROSS_LEFT_SWITCH) ||
(secondTargetPlate == RIGHT_SWITCH) ||
(secondTargetPlate == CROSS_RIGHT_SWITCH))
{
Elevator.goToPosition(Constants.SwitchPosition);
setAutonDelay(0.5);
currentAutonState = TWO_CUBE_RAISE_DELAY;
}
else
{
//secondTargetPlate == NONE;
currentAutonState = STOP;
}
/*if((targetPlate == LEFT_SCALE)||
(targetPlate == CROSS_LEFT_SCALE)){
Drivetrain.setTurnToTarget(0.6, 160.0);
currentAutonState = TURN_TO_SCALE;
}
else if((targetPlate == RIGHT_SCALE) ||
(targetPlate == CROSS_RIGHT_SCALE)){
//Right scale
Drivetrain.setTurnToTarget(-0.6, 160);
currentAutonState = TURN_TO_SCALE;
}
else{
//Should not get here
currentAutonState = STOP;
}*/
}
else{
//Wait for timer to expire
}
}
private void stateActionTwoCubeApproachCube() {
if(!Drivetrain.isMovingYDistance){
Intake.setIntakeOpenSolenoid(false);
setAutonDelay(.75);
currentAutonState = TWO_CUBE_GRAB_CUBE_DELAY;
}
else{
//Wait for timer to expire
}
}
private void stateActionTurnToScaleDelay() {
if(timer.get()>= alarmTime){
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(36,
Constants.LeftRightCreepSpeed,
0,0);
currentAutonState = CREEP_FWD;
}
else{
//Wait for timer to expire
}
}
private void stateActionTurnToScale() {
if(!Drivetrain.isTurning){
setAutonDelay(0.5);
currentAutonState = TURN_TO_SCALE_DELAY;
}
else{
//Wait for turn to finish
}
}
private void stateActionTurnToCubeDelay() {
if(timer.get()>= alarmTime){
Elevator.goToPosition(Constants.PickupPosition);
Intake.setIntakeOpenSolenoid(true);
Intake.setIntakeSpeed(-1.0);
Drivetrain.zeroGyro();
Drivetrain.setAlignCube(Constants.AlignCubeMaxDistance,
Constants.AlignCubeSpeed);
currentAutonState = TWO_CUBE_ALIGN_CUBE;
}
else
{
//Wait for timer to expire
}
}
private void stateActionTurnToCube() {
if(!Drivetrain.isTurning){
setAutonDelay(0.5);
currentAutonState = TURN_TO_CUBE_DELAY;
}
else
{
//Wait for turn to complete
}
}
private void stateActionCenClearCubeZone() {
if(!Drivetrain.isMovingXDistance){
if(targetPlate == LEFT_SWITCH){
Drivetrain.setMoveDistance(Constants.Center2ndStrafeYDistance,
Constants.Center2ndStrafeYSpeed,
Constants.Center2ndStrafeXDistance,
Constants.Center2ndStrafeXSpeed);
currentAutonState = CENTER_STRAFE_DIAGONALLY;
}
else
{
//targetPlate == RIGHT_SWITCH
Drivetrain.setMoveDistance(Constants.Center2ndStrafeYDistance,
Constants.Center2ndStrafeYSpeed,
-Constants.Center2ndStrafeXDistance,
-Constants.Center2ndStrafeXSpeed);
currentAutonState = CENTER_STRAFE_DIAGONALLY;
}
}
else{
//Wait for it to stop moving
}
}
private void stateActionCenGrabCubeDelay() {
if(timer.get()>= alarmTime){
Intake.setIntakeSpeed(-0.15);
Elevator.goToPosition(Constants.SwitchPosition);
if(targetPlate == LEFT_SWITCH){
Drivetrain.setMoveDistance(0,0,
Constants.CenterClearCubeZoneDist,
Constants.CenterClearCubeZoneSpeed);
currentAutonState = CENTER_CLEAR_CUBE_ZONE;
}
else
{
//targetPlate == RIGHT_SWITCH
Drivetrain.setMoveDistance(0,0,
-Constants.CenterClearCubeZoneDist,
-Constants.CenterClearCubeZoneSpeed);
currentAutonState = CENTER_CLEAR_CUBE_ZONE;
}
}
else{
//Wait for timer to expire
}
}
private void stateActionCenApproachCube() {
if(!Drivetrain.isMovingYDistance){
Intake.setIntakeOpenSolenoid(false);
setAutonDelay(.75);
currentAutonState = CENTER_GRAB_CUBE_DELAY;
}
else{
//Wait for it to stop moving
}
}
private void stateActionCenCrossSwitch() {
if(!Drivetrain.isMovingXDistance)
{
Intake.setIntakeSpeed(-1.0);
Drivetrain.setMoveDistance(Constants.CenterApproachCubeDist,
Constants.CenterApproachCubeSpeed,
0,0);
currentAutonState = CENTER_APPROACH_CUBE;
}
else
{
//Wait for it to stop moving
}
}
private void stateActionCenMoveBackward() {
if(!Drivetrain.isMovingYDistance){
Elevator.goToPosition(Constants.PickupPosition);
Intake.setIntakeOpenSolenoid(true);
if(targetPlate == LEFT_SWITCH){
Drivetrain.setMoveDistance(0,0,
-Constants.CenterCrossSwitchDist,
-Constants.CenterCrossSwitchSpeed);
currentAutonState = CENTER_CROSS_SWITCH;
}
else
{
Drivetrain.setMoveDistance(0,0,
Constants.CenterCrossSwitchDist,
Constants.CenterCrossSwitchSpeed);
currentAutonState = CENTER_CROSS_SWITCH;
}
}
else{
//Wait for it to stop moving
}
}
private void stateActionDelayAfterCrossScale() {
if(timer.get()>= alarmTime){
Drivetrain.setMoveDistance(Constants.CrossScaleCreepDistance,
Constants.LeftRightCreepSpeed,
0,0);
currentAutonState = CREEP_FWD;
}
else{
//Wait for timer to expire
}
}
private void stateActionCrossScale() {
if(!Drivetrain.isMovingXDistance){
Elevator.goToPosition(Constants.HighScalePosition);
setAutonDelay(1);
currentAutonState = DELAY_AFTER_CROSS_SCALE;
}
else
{
//Wait for stop moving
}
}
private void stateActionStrafeDiagonally() {
if((!Drivetrain.isMovingYDistance) &&
(!Drivetrain.isMovingXDistance))
{
if(cubeCount == 0)
{
//Delivering 1st Cube
Drivetrain.setMoveDistance(Constants.CenterSwitchFwdDistance,
Constants.CenterSwitchFwdSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}
else
{
//Second Cube
Intake.setIntakeSpeed(1.0);
setAutonDelay(1);
currentAutonState = CENTER_SWITCH_EJECT_CUBE;
}
}
else
{
//Wait for strafe to finish
}
}
private void stateActionStart(){
//Log what the FMS plate assignment is (to argue with FTA)
System.out.println("The received FMS assignment is: " + fms_plate_assignment);
if(selectedAutonRoutine != DO_NOTHING){
if((selectedAutonRoutine == CENTER_SWITCH)||
(selectedAutonRoutine == CENTER_SWITCH_2_CUBE)){
if(fms_plate_assignment.charAt(0) == 'L'){
targetPlate = LEFT_SWITCH;
Elevator.goToPosition(Constants.SwitchPosition);
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.CenterStrafeYDistance,
Constants.CenterStrafeYSpeed,
Constants.CenterStrafeXDistanceLeft,
Constants.CenterStrafeXSpeed);
currentAutonState = CENTER_STRAFE_DIAGONALLY;
}
else if(fms_plate_assignment.charAt(0) == 'R')
{
targetPlate = RIGHT_SWITCH;
Elevator.goToPosition(Constants.SwitchPosition);
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.CenterStrafeYDistance,
Constants.CenterStrafeYSpeed,
-Constants.CenterStrafeXDistanceRight,
-Constants.CenterStrafeXSpeed);
currentAutonState = CENTER_STRAFE_DIAGONALLY;
}
else
{
//Not a valid plate assignment
targetPlate = NONE;
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == LEFT_ONLY_SWITCH)
{
if(fms_plate_assignment.charAt(0) == 'L'){
//Left switch is ours - LLL or LRL
targetPlate = LEFT_SWITCH;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightSwitchDistance,
Constants.LeftRightSwitchSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'L'){
//Left scale is ours - RLR
targetPlate = LEFT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightScaleDistance,
Constants.LeftRightScaleSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'R'){
//Right switch and scale are ours - RRR
targetPlate = NONE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightAutoLineDistance,
Constants.LeftRightAutoLineSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == LEFT_ONLY_SCALE)
{
if(fms_plate_assignment.charAt(1) == 'L'){
//Left scale is ours - LLL or RLR
targetPlate = LEFT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightScaleDistance,
Constants.LeftRightScaleSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(0) == 'L'){
//Left switch is ours - LRL
targetPlate = LEFT_SWITCH;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightSwitchDistance,
Constants.LeftRightSwitchSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'R'){
//Right switch and scale are ours - RRR
targetPlate = NONE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightAutoLineDistance,
Constants.LeftRightAutoLineSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == LEFT_START_SWITCH)
{
if(fms_plate_assignment.charAt(0) == 'L'){
//Left switch is ours - LLL or LRL
targetPlate = LEFT_SWITCH;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightSwitchDistance,
Constants.LeftRightSwitchSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'L'){
//Left scale is ours - RLR
targetPlate = LEFT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightScaleDistance,
Constants.LeftRightScaleSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'R'){
//Right switch and scale are ours - RRR
targetPlate = CROSS_RIGHT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightCrossScaleYDistance,
Constants.LeftRightCrossScaleYSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == LEFT_START_SCALE)
{
if(fms_plate_assignment.charAt(1) == 'L'){
//Left scale is ours - RLR or LLL
targetPlate = LEFT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightScaleDistance,
Constants.LeftRightScaleSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}
else if(fms_plate_assignment.charAt(1) == 'R'){
//Right scale is ours - LRL or RRR
targetPlate = CROSS_RIGHT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightCrossScaleYDistance,
Constants.LeftRightCrossScaleYSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == LEFT_START_2_CUBE)
{
if(fms_plate_assignment.charAt(1) == 'L'){
//Left scale is ours - RLR or LLL
targetPlate = LEFT_SCALE;
if(fms_plate_assignment.charAt(0) == 'L'){
//LLL
secondTargetPlate = LEFT_SWITCH;
}else{
//RLR
secondTargetPlate = NONE;
}
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightCrossScaleYDistance,
Constants.LeftRightCrossScaleYSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}
else if(fms_plate_assignment.charAt(1) == 'R'){
//Right scale is ours - LRL or RRR
targetPlate = CROSS_RIGHT_SCALE;
if(fms_plate_assignment.charAt(0) == 'R'){
//RRR
secondTargetPlate = CROSS_RIGHT_SWITCH;
}else{
//LRL
secondTargetPlate = NONE;
}
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightCrossScaleYDistance,
Constants.LeftRightCrossScaleYSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == RIGHT_ONLY_SWITCH)
{
if(fms_plate_assignment.charAt(0) == 'R'){
//Right switch is ours - RRR or RLR
targetPlate = RIGHT_SWITCH;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightSwitchDistance,
Constants.LeftRightSwitchSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'R'){
//Right scale is ours - LRL
targetPlate = RIGHT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightScaleDistance,
Constants.LeftRightScaleSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'L'){
//Left switch and scale are ours - LLL
targetPlate = NONE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightAutoLineDistance,
Constants.LeftRightAutoLineSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == RIGHT_ONLY_SCALE)
{
if(fms_plate_assignment.charAt(1) == 'R'){
//Right scale is ours - LRL or RRR
targetPlate = RIGHT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightScaleDistance,
Constants.LeftRightScaleSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(0) == 'R'){
//Right switch is ours - RLR
targetPlate = RIGHT_SWITCH;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightSwitchDistance,
Constants.LeftRightSwitchSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'L'){
//Left switch and scale are ours - LLL
targetPlate = NONE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightAutoLineDistance,
Constants.LeftRightAutoLineSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == RIGHT_START_SWITCH)
{
if(fms_plate_assignment.charAt(0) == 'R'){
//Right switch is ours - RRR or RLR
targetPlate = RIGHT_SWITCH;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightSwitchDistance,
Constants.LeftRightSwitchSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'R'){
//Right scale is ours - LRL
targetPlate = RIGHT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightScaleDistance,
Constants.LeftRightScaleSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else if(fms_plate_assignment.charAt(1) == 'L'){
//Left switch and scale are ours - LLL
//For now, just cross autonomous line
targetPlate = CROSS_LEFT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightCrossScaleYDistance,
Constants.LeftRightCrossScaleYSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == RIGHT_START_SCALE)
{
if(fms_plate_assignment.charAt(1) == 'R'){
//Right scale is ours - LRL or RRR
targetPlate = RIGHT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightScaleDistance,
Constants.LeftRightScaleSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}
else if(fms_plate_assignment.charAt(1) == 'L'){
//Left switch and scale are ours - LLL
//For now, just cross autonomous line
targetPlate = CROSS_LEFT_SCALE;
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightCrossScaleYDistance,
Constants.LeftRightCrossScaleYSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else if(selectedAutonRoutine == RIGHT_START_2_CUBE)
{
if(fms_plate_assignment.charAt(1) == 'R'){
//Right scale is ours - LRL or RRR
targetPlate = RIGHT_SCALE;
if(fms_plate_assignment.charAt(0) == 'R'){
//RRR
secondTargetPlate = RIGHT_SWITCH;
}else{
//LRL
secondTargetPlate = NONE;
}
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightCrossScaleYDistance,
Constants.LeftRightCrossScaleYSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}
else if(fms_plate_assignment.charAt(1) == 'L'){
//Left switch and scale are ours - LLL
targetPlate = CROSS_LEFT_SCALE;
if(fms_plate_assignment.charAt(0) == 'L'){
//LLL
secondTargetPlate = CROSS_LEFT_SWITCH;
}else{
//RLR
secondTargetPlate = NONE;
}
Drivetrain.zeroGyro();
Drivetrain.setMoveDistance(Constants.LeftRightCrossScaleYDistance,
Constants.LeftRightCrossScaleYSpeed,
0,0);
currentAutonState = MOVE_Y_DISTANCE_FWD;
}else{
//Not a valid plate assignment
currentAutonState = STOP;
}
}
else{
currentAutonState = STOP;
}
}
else{
currentAutonState = STOP;
}
}
private void stateActionCenSwPivotIntakeDelay(){
if(timer.get()>= alarmTime)
{
Intake.setIntakeSpeed(1.0);
setAutonDelay(0.5);
currentAutonState = CENTER_SWITCH_EJECT_CUBE;
}
else{
//Wait for the timer to expire
}
}
private void stateActionCenSwEjectCubeDelay(){
if(timer.get()>= alarmTime)
{
//Increment the cube count
cubeCount++;
if((selectedAutonRoutine == CENTER_SWITCH_2_CUBE) &&
(cubeCount < 2)){
//Go get 2nd Cube
Intake.setIntakeSpeed(0.0);
Drivetrain.setMoveDistance(Constants.CenterSwitchRwdDistance,
Constants.CenterSwitchRwdSpeed,
0,0);
currentAutonState = CENTER_MOVE_BACKWARD;
}
else
{
//Done
Intake.setIntakeSpeed(0.0);
currentAutonState = STOP;
}
}
else{
//Wait for the timer to expire
}
}
private void stateActionMoveYDistance(){
if(!Drivetrain.isMovingYDistance){
if((selectedAutonRoutine == CENTER_SWITCH)||
(selectedAutonRoutine == CENTER_SWITCH_2_CUBE))
{
Intake.setIntakeSolenoid(true);
setAutonDelay(0.5);
currentAutonState = CENTER_SWITCH_EXTEND_INTAKE;
}
else if ((selectedAutonRoutine == LEFT_ONLY_SWITCH) ||
(selectedAutonRoutine == LEFT_ONLY_SCALE) ||
(selectedAutonRoutine == LEFT_START_SWITCH)||
(selectedAutonRoutine == LEFT_START_SCALE))
{
if(targetPlate == LEFT_SWITCH)
{
//LLL or LRL
Elevator.goToPosition(Constants.SwitchPosition);
setAutonDelay(0.5);
currentAutonState = LEFT_RIGHT_DELAY_BEFORE_TURN;
}
else if(targetPlate == LEFT_SCALE)
{
//RLR
Elevator.goToPosition(Constants.HighScalePosition);
setAutonDelay(0.5);
currentAutonState = LEFT_RIGHT_DELAY_BEFORE_TURN;
}
else if(targetPlate == CROSS_RIGHT_SCALE)
{
//RRR
Drivetrain.setMoveDistance(0,0,
-Constants.LeftRightCrossScaleXDistance,
-Constants.LeftRightCrossScaleXSpeed);
currentAutonState = CROSS_SCALE;
//currentAutonState = STOP;
}
else
{
currentAutonState = STOP;
}
}
else if (selectedAutonRoutine == LEFT_START_2_CUBE)
{
if(targetPlate == LEFT_SCALE)
{
//LLL or RLR
Drivetrain.setMoveDistance(0,0,
-Constants.LeftRightCloseScaleXDistance,
-Constants.LeftRightCrossScaleXSpeed);
currentAutonState = CROSS_SCALE;
}
else if(targetPlate == CROSS_RIGHT_SCALE)
{
//LRL or RRR
Drivetrain.setMoveDistance(0,0,
-Constants.LeftRightCrossScaleXDistance,
-Constants.LeftRightCrossScaleXSpeed);
currentAutonState = CROSS_SCALE;
//currentAutonState = STOP;
}
else
{
currentAutonState = STOP;
}
}
else if ((selectedAutonRoutine == RIGHT_ONLY_SWITCH) ||
(selectedAutonRoutine == RIGHT_ONLY_SCALE) ||
(selectedAutonRoutine == RIGHT_START_SWITCH) ||
(selectedAutonRoutine == RIGHT_START_SCALE))
{
if(targetPlate == RIGHT_SWITCH)
{
//RRR or RLR
Elevator.goToPosition(Constants.SwitchPosition);
setAutonDelay(0.5);
currentAutonState = LEFT_RIGHT_DELAY_BEFORE_TURN;
}
else if(targetPlate == RIGHT_SCALE)
{
//LRL
Elevator.goToPosition(Constants.HighScalePosition);
setAutonDelay(0.5);
currentAutonState = LEFT_RIGHT_DELAY_BEFORE_TURN;
}
else if(targetPlate == CROSS_LEFT_SCALE)
{
//LLL
Drivetrain.setMoveDistance(0,0,
Constants.LeftRightCrossScaleXDistance,
Constants.LeftRightCrossScaleXSpeed);
currentAutonState = CROSS_SCALE;
//currentAutonState = STOP;
}
else
{
currentAutonState = STOP;
}
}
else if (selectedAutonRoutine == RIGHT_START_2_CUBE)
{
if(targetPlate == RIGHT_SCALE)
{
//LRL or RRR
Drivetrain.setMoveDistance(0,0,
Constants.LeftRightCloseScaleXDistance,
Constants.LeftRightCrossScaleXSpeed);
currentAutonState = CROSS_SCALE;
}
else if(targetPlate == CROSS_LEFT_SCALE)
{
//LLL or RLR
Drivetrain.setMoveDistance(0,0,
Constants.LeftRightCrossScaleXDistance,
Constants.LeftRightCrossScaleXSpeed);
currentAutonState = CROSS_SCALE;
//currentAutonState = STOP;