SPQR-Team-2019-REVAMPED/include/strategy_roles/goalie.h

#pragma once

#include "sensors/data_source_camera_vshapedmirror.h"
#include "sensors/sensors.h"
#include "strategy_roles/game.h"

#define TILT_MULT 1.8
#define TILT_DIST 180
#define CATCH_DIST 150
#define GOALIE_ATKSPD_LAT  255
#define GOALIE_ATKSPD_BAK  350
#define GOALIE_ATKSPD_FRT  345
#define GOALIE_ATKSPD_STRK 355
#define GOALIE_ATKDIR_PLUSANG1 20
#define GOALIE_ATKDIR_PLUSANG2 35
#define GOALIE_ATKDIR_PLUSANG3 40
#define GOALIE_ATKDIR_PLUSANGBAK 40
#define GOALIE_ATKDIR_PLUSANG1_COR 60
#define GOALIE_ATKDIR_PLUSANG2_COR 70
#define GOALIE_ATKDIR_PLUSANG3_COR 70

class Goalie : public Game, public PositionSysZone{

    public:
        Goalie();
        Goalie(LineSystem* ls, PositionSystem* ps);

    private:
        void realPlay() override;
        void init() override;
        void goalie(int);
        void ballBack(); 
        void storcimentoPorta();

        int atk_speed, atk_direction;
        float cstorc;

    
};