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striker: robot tilt towards the goal when attacking 

Although without a roller the robot just sky-rockets the ball away when they come in touch
pull/1/head
EmaMaker 2021-04-14 14:58:15 +02:00
parent 95a601f030
commit 3308c26ef4
2 changed files with 20 additions and 9 deletions
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11
include/strategy_roles/striker.h
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@ -4,9 +4,9 @@
#include "sensors/sensors.h" #include "sensors/sensors.h"
#include "strategy_roles/game.h" #include "strategy_roles/game.h"
#define STRIKER_ATTACK_DISTANCE 300 #define STRIKER_ATTACK_DISTANCE 100
#define STRIKER_PLUSANG 55 #define STRIKER_PLUSANG 55
#define STRIKER_PLUSANG_VISIONCONE 20 #define STRIKER_PLUSANG_VISIONCONE 10
class Striker : public Game{ class Striker : public Game{
@ -18,11 +18,12 @@ class Striker : public Game{
void realPlay() override; void realPlay() override;
void init() override; void init() override;
void striker(); void striker();
void ballBack(); int tilt();
void storcimentoPorta();
int atk_speed, atk_direction; int atk_speed, atk_direction, atk_tilt;
float cstorc; float cstorc;
ComplementaryFilter* filter;
}; };

18
src/strategy_roles/striker.cpp
View File

@ -20,7 +20,10 @@ void Striker::init()
{ {
atk_speed = 0; atk_speed = 0;
atk_direction = 0; atk_direction = 0;
atk_tilt = 0;
cstorc = 0; cstorc = 0;
filter = new ComplementaryFilter(0.7);
} }
void Striker::realPlay() void Striker::realPlay()
@ -37,11 +40,10 @@ void Striker::striker()
if (CURRENT_DATA_READ.ballDistance > STRIKER_ATTACK_DISTANCE) if (CURRENT_DATA_READ.ballDistance > STRIKER_ATTACK_DISTANCE)
{ {
drive->prepareDrive(ball_deg > 180 ? CURRENT_DATA_READ.ballAngle - 10 : CURRENT_DATA_READ.ballAngle + 10, 100, 0); drive->prepareDrive(ball_deg > 180 ? CURRENT_DATA_READ.ballAngle - 20 : CURRENT_DATA_READ.ballAngle + 20, MAX_VEL_EIGTH, 0);
return; return;
} }
if (ball_deg > 340 || ball_deg < 20) if (ball_deg > 340 || ball_deg < 20)
plusang -= STRIKER_PLUSANG_VISIONCONE; //se ho la palla in un range di +-20 davanti, diminuisco di 20 il plus plusang -= STRIKER_PLUSANG_VISIONCONE; //se ho la palla in un range di +-20 davanti, diminuisco di 20 il plus
if (ball_deg > 180) if (ball_deg > 180)
@ -58,9 +60,17 @@ void Striker::striker()
dir = dir + 360; //se sto nel quadrante negativo ricappotto dir = dir + 360; //se sto nel quadrante negativo ricappotto
else else
dir = dir; dir = dir;
drive->prepareDrive(dir, MAX_VEL_EIGTH, 0);
drive->prepareDrive(dir, MAX_VEL_QUARTER, tilt());
} }
void Striker::storcimentoPorta() int Striker::tilt()
{ {
if (!CURRENT_DATA_READ.atkSeen) return 0;
if (CURRENT_DATA_READ.ballAngleFix >= 350 || CURRENT_DATA_READ.ballAngleFix <= 10)
atk_tilt = (constrain(CURRENT_DATA_READ.angleAtkFix, -45, 45) + 360) % 360;
else if((CURRENT_DATA_READ.ballAngleFix > 345 && CURRENT_DATA_READ.ballAngleFix < 350) || (CURRENT_DATA_READ.ballAngleFix > 10 && CURRENT_DATA_READ.ballAngleFix < 15))
atk_tilt = 0;
atk_tilt = filter->calculate(atk_tilt);
return atk_tilt;
} }