44 lines
1003 B
C
44 lines
1003 B
C
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#pragma once
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#include "sensors/data_source_camera_vshapedmirror.h"
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#include "sensors/sensors.h"
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#include "strategy_roles/game.h"
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#define CK2_SPINNER_OVERHEAD 10
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#define CK2_KICK_LIMIT_TILT1 200
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#define CK2_KICK_LIMIT_MAX 315
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#define CK2_KICK_LIMIT_MIN 45
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class CornerKick2 : public Game{
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public:
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CornerKick2();
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CornerKick2(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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unsigned long timer = 0;
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int state = 0;
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int ball_catch_state = 0;
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int ball_catch_timer = 0;
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bool ball_catch_flag = false;
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float ball_catch_tilt = 0;
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int goal_coords = 0;
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ComplementaryFilter* ballAngleFilter = new ComplementaryFilter(0.85);
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int limitx = 0, spinner_state = 0;
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bool spinner_flag = false;
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float tilt1 = 0, tilt2 = 0, spinner_tilt = 0;
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unsigned long spinner_timer = 0;
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};
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