54 lines
1.3 KiB
C
54 lines
1.3 KiB
C
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#pragma once
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#include "sensors/data_source_camera_vshapedmirror.h"
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#include "behaviour_control/complementary_filter.h"
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#include "sensors/sensors.h"
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#include "strategy_roles/game.h"
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#define RR_ATTACK_DISTANCE 110
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#define RR_TILT_STOP_DISTANCE 140
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#define RR_PLUSANG 55
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#define RR_PLUSANG_VISIONCONE 10
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// There needs to be a little bit of space between the target point and the spot to be in
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#define RR_SPINNER_OVERHEAD 7
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#define RR_KICK_LIMIT_TILT1 135
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#define RR_KICK_LIMIT_MAX 335
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#define RR_KICK_LIMIT_MIN 25
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#define ROUND_ROBIN_VEL 30
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#define RR_YCOORD -8
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#define RR_ROLLER_SPD 1500
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class RoundRobin : public Game{
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public:
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RoundRobin();
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RoundRobin(LineSystem* ls, PositionSystem* ps);
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private:
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void realPlay() override;
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void init() override;
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void catchBall();
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void spinner(int);
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private:
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int atk_speed, atk_direction, atk_tilt;
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float cstorc;
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bool gotta_tilt;
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ComplementaryFilter* ballAngleFilter;
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float tilt1 = 0;
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float tilt2 = 0;
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int spinner_state = 0;
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bool spinner_flag = false;
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unsigned long spinner_timer = 0;
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float spinner_tilt = 0;
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int ball_catch_state = 0;
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bool ball_catch_flag = false;
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unsigned long ball_catch_timer = 0;
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float ball_catch_tilt = 0;
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int limitx = 0;
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};
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