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striker: adapt striker to new ball reading

pull/2/head
emamaker 2022-07-04 15:31:01 +02:00
parent c27b64922c
commit 14992f5baa
3 changed files with 33 additions and 29 deletions
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4
include/sensors/data_source_ball.h
View File

@ -2,8 +2,8 @@
#include "behaviour_control/data_source.h"
#include <Arduino.h>
#define MOUTH_MIN_ANGLE 345
#define MOUTH_MAX_ANGLE 15
#define MOUTH_MIN_ANGLE 350
#define MOUTH_MAX_ANGLE 10
#define MOUTH_DISTANCE 100
#define MOUTH_MAX_DISTANCE 140

34
include/strategy_roles/striker.h
View File

@ -1,32 +1,32 @@
#pragma once
#include "sensors/data_source_camera_vshapedmirror.h"
#include "behaviour_control/complementary_filter.h"
#include "motors_movement/drivecontroller.h"
#include "sensors/sensors.h"
#include "strategy_roles/game.h"
#include "motors_movement/drivecontroller.h"
#define STRIKER_ATTACK_DISTANCE 110
#define STRIKER_TILT_STOP_DISTANCE 140
#define STRIKER_PLUSANG 50
#define STRIKER_PLUSANG 35
#define STRIKER_PLUSANG_VISIONCONE 7
#define STRIKER_VEL MAX_VEL
#define STRIKER_MOUTH_SX 345
#define STRIKER_MOUTH_DX 15
class Striker : public Game
{
class Striker : public Game{
public:
Striker();
Striker(LineSystem *ls, PositionSystem *ps);
public:
Striker();
Striker(LineSystem* ls, PositionSystem* ps);
private:
void realPlay() override;
void init() override;
void striker();
int tilt();
float ballTilt();
private:
void realPlay() override;
void init() override;
void striker();
int tilt();
float ballTilt();
int atk_speed, atk_direction = 0, atk_tilt, stato = 0, plusang_flag = 0;
bool flag = false;
int atk_speed, atk_direction = 0, atk_tilt, stato = 0, plusang_flag = 0;
bool flag = false;
ComplementaryFilter *ball_filter;
};

24
src/strategy_roles/striker.cpp
View File

@ -18,9 +18,7 @@ Striker::Striker(LineSystem *ls_, PositionSystem *ps_) : Game(ls_, ps_)
void Striker::init()
{
atk_speed = 0;
atk_direction = 0;
atk_tilt = 0;
ball_filter = new ComplementaryFilter(0.75f);
}
void Striker::realPlay()
@ -39,11 +37,11 @@ unsigned long ttilt = 0;
void Striker::striker()
{
if(CURRENT_DATA_READ.lineActive != 0 ) flag = false;
if (CURRENT_DATA_READ.lineActive != 0) flag = false;
int dir = 0, ball_deg = CURRENT_DATA_READ.ballAngle, plusang = STRIKER_PLUSANG + 8 * (CURRENT_DATA_READ.ballDistance <= 90);
int dir = 0, ball_deg = ball_filter->calculate(CURRENT_DATA_READ.ballAngle), plusang = STRIKER_PLUSANG + 10 * (CURRENT_DATA_READ.ballDistance <= 90);
if (CURRENT_DATA_READ.ballDistance >= 125)
if (CURRENT_DATA_READ.ballDistance >= 120)
{
drive->prepareDrive(ball_deg > 180 ? ball_deg * 0.96 : ball_deg * 1.04, STRIKER_VEL, 0);
}
@ -53,6 +51,8 @@ void Striker::striker()
if (ball->isInFront())
{
plusang = STRIKER_PLUSANG_VISIONCONE;
// dir = ball_deg >= 0 ? plusang : - plusang;
dir = 0;
flag = false;
}
@ -60,7 +60,7 @@ void Striker::striker()
{
if (!flag)
{
if (ball_deg <= 90)
dir = ball_deg + plusang;
else if (ball_deg >= 270)
@ -73,11 +73,14 @@ void Striker::striker()
else
plusang_flag = -plusang;
}
}else dir = ball_deg + plusang_flag;
}
else
dir = ball_deg + plusang_flag;
}
if (CURRENT_DATA_READ.atkSeen) atk_tilt = CURRENT_DATA_READ.angleAtkFix;
dir = (dir + 360) % 360;
drive->prepareDrive(dir, STRIKER_VEL, tilt());
drive->prepareDrive(dir, STRIKER_VEL, atk_tilt);
// if(ball->isInFront() && roller->roller_armed) roller->speed(ROLLER_DEFAULT_SPEED);
// else roller->speed(roller->MIN);
@ -86,5 +89,6 @@ void Striker::striker()
int Striker::tilt()
{
return CURRENT_DATA_READ.ballAngle <= 90 || CURRENT_DATA_READ.ballAngle >= 270 ? CURRENT_DATA_READ.angleAtkFix : 0;
// return CURRENT_DATA_READ.ballAngle <= 110 || CURRENT_DATA_READ.ballAngle >= 270 ? CURRENT_DATA_READ.angleAtkFix : 0;
return CURRENT_DATA_READ.angleAtkFix;
}