29 lines
867 B
C
29 lines
867 B
C
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#pragma once
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#include "systems/position/positionsys_camera.h"
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#include "systems/lines/linesys_camera.h"
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#include "sensors/sensors.h"
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#include "strategy_roles/game.h"
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#include "strategy_roles/games.h"
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#include "behaviour_control/status_vector.h"
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#include "sensors/data_source_ball.h"
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#include "strategy_roles/striker.h"
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#include "sensors/data_source_ball_presence.h"
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#include "sensors/data_source_bt.h"
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#include "vars.h"
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class CornerKick : public Game{
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public:
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CornerKick();
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CornerKick(LineSystem* ls, PositionSystem* ps);
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void init() override;
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void realPlay() override;
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void kick();
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unsigned long kicktimer = 0, debounce_timer = 0;
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int kick_state = 99;
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bool kick_flag = false;
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int old_btn = 0, new_val = 0;
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ComplementaryFilter* ballAngleFilter = new ComplementaryFilter(0.85);
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};
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