SPQR-Team-2019-REVAMPED/src/goalie.cpp

#include "goalie.h"
#include "sensors.h"
#include "vars.h"

Goalie::Goalie() : Game() {
  init();
}

Goalie::Goalie(LineSystem* ls_, PositionSystem* ps_) : Game(ls_, ps_) {
  init();
}

void Goalie::init(){
    atk_speed = 0;
    atk_direction = 0;

}

void Goalie::realPlay(){
    goalie();
}

void Goalie::goalie() {
  compass->readSensor();
  if(ball->angle >= 350 || ball->angle <= 10)  {
    if(ball->distance > 190) atk_direction = 0;
    else atk_direction = ball->angle;
    atk_speed = GOALIE_ATKSPD_FRT;
  }

  if(ball->angle >= 90 && ball->angle <= 270) {
    ballBack();
    atk_speed = GOALIE_ATKSPD_BAK;                   
  }
  if(digitalRead(SWITCH_DX) == 1) {
    if(ball->angle > 10   && ball->angle <  30)   {
      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG1;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle >= 30 && ball->angle <  45)    {
      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG2;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle >= 45 && ball->angle <  90)    {
      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG3;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle > 270 && ball->angle <= 315)   {
      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG3_COR;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle > 315 && ball->angle <= 330)   {
      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG2_COR;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle > 330 && ball->angle <  350)   {
      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG1_COR;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
  } else {
    if(ball->angle > 10   && ball->angle <  30)   {
      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG1_COR;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle >= 30 && ball->angle <  45)    {
      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG2_COR;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle >= 45 && ball->angle <  90)    {
      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG3_COR;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle > 270 && ball->angle <= 315)   {
      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG3;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle > 315 && ball->angle <= 330)   {
      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG2;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
    if(ball->angle > 330 && ball->angle <  350)   {
      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG1;
      atk_speed = GOALIE_ATKSPD_LAT;
    }
  }

  if((ball->angle >= 330 || ball->angle <= 30) && ball->distance > 190) {      //storcimento
    atk_speed = GOALIE_ATKSPD_STRK;                                             //dove i gigahertz hanno fallito
    drive->prepareDrive(atk_direction, atk_speed, cstorc);
  }
  else  drive->prepareDrive(atk_direction, atk_speed);
}

void Goalie::storcimentoPorta() {
  if (camera->getValueAtk(true) >= 3) cstorc+=9;
  else if (camera->getValueAtk(true)  < -3) cstorc-=9;
  else cstorc *= 0.7;
  cstorc = constrain(cstorc, -30, 30);
}

void Goalie::ballBack() {
  int degrees2;
  int dir;

  int plusang;
  if(ball->distance > 130) plusang = GOALIE_ATKDIR_PLUSANGBAK;
  else plusang = 0;
  
  if(ball->angle > 180) degrees2 = ball->angle - 360;
  else degrees2 = ball->angle;
  if(degrees2 > 0) dir = ball->angle + plusang;              //45 con 8 ruote
  else dir = ball->angle - plusang;                                 //45 con 8 ruote
  if(dir < 0) dir = dir + 360;
  else dir = dir;
  atk_direction = dir;
}