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SPQR-Team-2019-REVAMPED
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strange behaviour. started zenhub for this repo.

pull/1/head
u-siri-ous 2019-12-05 13:31:21 +01:00
parent 5a0701f09e
commit 23794ebc2d
3 changed files with 39 additions and 122 deletions
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20
include/goalie.h
View File

@ -2,7 +2,7 @@
#include "game.h" #include "game.h"
#define GOALIE_ATKSPD_LAT 255 /* #define GOALIE_ATKSPD_LAT 255
#define GOALIE_ATKSPD_BAK 350 #define GOALIE_ATKSPD_BAK 350
#define GOALIE_ATKSPD_FRT 345 #define GOALIE_ATKSPD_FRT 345
#define GOALIE_ATKSPD_STRK 355 #define GOALIE_ATKSPD_STRK 355
@ -12,24 +12,14 @@
#define GOALIE_ATKDIR_PLUSANGBAK 40 #define GOALIE_ATKDIR_PLUSANGBAK 40
#define GOALIE_ATKDIR_PLUSANG1_COR 60 #define GOALIE_ATKDIR_PLUSANG1_COR 60
#define GOALIE_ATKDIR_PLUSANG2_COR 70 #define GOALIE_ATKDIR_PLUSANG2_COR 70
#define GOALIE_ATKDIR_PLUSANG3_COR 70 #define GOALIE_ATKDIR_PLUSANG3_COR 70 */
class Goalie{ class Goalie{
public: public:
void goalie(); Goalie();
void palla_dietro();
void palla_dietroP();
void storcimentoPorta();
void storcimentoPorta2();
void storcimentoZone();
void storcimentoPortaIncr();
void leaveMeAlone();
void ballBack();
int atk_direction, atk_speed;
/* Goalie();
void goalie(); void goalie();
void ballBack(); */ void ballBack();
//void rigore(); to be implemented //void rigore(); to be implemented
int atk_direction, atk_speed;
}; };

91
src/goalie.cpp
View File

@ -1,93 +1,22 @@
#include "goalie.h" #include "goalie.h"
/* Goalie::Goalie(){ Goalie::Goalie(){ }
digitalWrite(LED_Y, LOW);
} */
/* void Goalie::goalie(){ void Goalie::goalie(){
digitalWrite(LED_Y, LOW); digitalWrite(LED_G, HIGH);
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, 0);
}
else drive->prepareDrive(atk_direction, atk_speed, 0);
/* siria digitalWrite(LED_G, HIGH);
if(ball->ballSeen){ if(ball->ballSeen){
if(ball->angle >= 0 && ball->angle < 45) drive->drive(ball->angle, 75, 0); if(ball->angle >= 0 && ball->angle < 45) drive->drive(0, 75, 0);
else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(ball->angle, 75, 0); /* else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(ball->angle, 75, 0);
else if(ball->angle > 60 && ball->angle < 90) drive->drive(ball->angle, 75, 0); else if(ball->angle > 60 && ball->angle < 90) drive->drive(ball->angle, 75, 0);
else if(ball->angle >= 90 && ball->angle < 135) drive->drive(ball->angle, 75, 0); else if(ball->angle >= 90 && ball->angle < 135) drive->drive(ball->angle, 75, 0); */
} else { } else {
drive->prepareDrive(0, 0, 0); drive->prepareDrive(0, 0, 0);
drive->drive(0, 0, 0); drive->drive(0, 0, 0);
} */ }
}
void Goalie::ballBack(){ void Goalie::ballBack(){
int ballangle2; /* old int ballangle2;
int dir; int dir;
int plusang; int plusang;
@ -100,5 +29,5 @@ void Goalie::ballBack(){
else dir = ball->angle - plusang; //45 con 8 ruote else dir = ball->angle - plusang; //45 con 8 ruote
if(dir < 0) dir = dir + 360; if(dir < 0) dir = dir + 360;
else dir = dir; else dir = dir;
atk_direction = dir; atk_direction = dir; */
} }

50
src/main.cpp
View File

@ -1,9 +1,30 @@
#include <Arduino.h> #include <Arduino.h>
#include "game.h" #include "game.h"
#include "goalie.h"
class Trial{ void setup() {
delay(500);
DEBUG.begin(9600);
initSensors();
delay(2000);
}
void loop() {
updateSensors();
/* Trial trial;
trial.trial(); */
//drive->prepareDrive(0,0,0);
linesCtrl->update();
goalie->goalie();
//drive->drivePrepared();
}
/*old function trial
class Trial{
public: public:
void trial(){ void trial(){
digitalWrite(LED_Y, LOW); digitalWrite(LED_Y, LOW);
@ -76,28 +97,5 @@ class Trial{
else drive->prepareDrive(goalie->atk_direction, goalie->atk_speed, 0); else drive->prepareDrive(goalie->atk_direction, goalie->atk_speed, 0);
} }
}; }; */
void setup() {
delay(500);
DEBUG.begin(9600);
initSensors();
delay(2000);
}
void loop() {
updateSensors();
Trial trial;
trial.trial();
//drive->prepareDrive(0,0,0);
//linesCtrl->update();
//drive->prepareDrive(0,0,0);
linesCtrl->update();
drive->drivePrepared();
}