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SPQR-Team-2019-REVAMPED
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tilt: better tilt

pull/1/head
EmaMaker 2021-04-19 19:14:51 +02:00
parent 5e88a21293
commit 3ebe64555b
3 changed files with 19 additions and 9 deletions
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5
include/strategy_roles/striker.h
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@ -4,7 +4,8 @@
#include "sensors/sensors.h" #include "sensors/sensors.h"
#include "strategy_roles/game.h" #include "strategy_roles/game.h"
#define STRIKER_ATTACK_DISTANCE 100 #define STRIKER_ATTACK_DISTANCE 110
#define STRIKER_TILT_STOP_DISTANCE 140
#define STRIKER_PLUSANG 55 #define STRIKER_PLUSANG 55
#define STRIKER_PLUSANG_VISIONCONE 10 #define STRIKER_PLUSANG_VISIONCONE 10
@ -23,6 +24,8 @@ class Striker : public Game{
int atk_speed, atk_direction, atk_tilt; int atk_speed, atk_direction, atk_tilt;
float cstorc; float cstorc;
bool gotta_tilt;
ComplementaryFilter* filter; ComplementaryFilter* filter;

2
src/motors_movement/drivecontroller.cpp
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@ -63,7 +63,7 @@ float DriveController::torad(float f){
void DriveController::drive(int dir, int speed, int tilt){ void DriveController::drive(int dir, int speed, int tilt){
speed = speedFilter->calculate(speed)*GLOBAL_SPD_MULT; speed = speedFilter->calculate(speed)*GLOBAL_SPD_MULT;
tilt = tilt > 180 ? tilt - 360 : tilt; //tilt = tilt > 180 ? tilt - 360 : tilt;
//TODO: Changing CURRENT_DATA_READ to CURRENT_DATA_WRITE? //TODO: Changing CURRENT_DATA_READ to CURRENT_DATA_WRITE?
// Disable vector sum because calculations are a bitty crappy imho. Will have to test if it's what makes the robot act strange with lines // Disable vector sum because calculations are a bitty crappy imho. Will have to test if it's what makes the robot act strange with lines

21
src/strategy_roles/striker.cpp
View File

@ -23,6 +23,8 @@ void Striker::init()
atk_tilt = 0; atk_tilt = 0;
cstorc = 0; cstorc = 0;
gotta_tilt = false;
filter = new ComplementaryFilter(0.7); filter = new ComplementaryFilter(0.7);
} }
@ -40,7 +42,7 @@ 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 - 20 : CURRENT_DATA_READ.ballAngle + 20, MAX_VEL_EIGTH, 0); drive->prepareDrive(ball_deg > 180 ? CURRENT_DATA_READ.ballAngle - 20 : CURRENT_DATA_READ.ballAngle + 20, MAX_VEL_HALF, 0);
return; return;
} }
@ -61,16 +63,21 @@ void Striker::striker()
else else
dir = dir; dir = dir;
drive->prepareDrive(dir, MAX_VEL_QUARTER, tilt()); drive->prepareDrive(dir, MAX_VEL_HALF, tilt());
} }
int Striker::tilt() int Striker::tilt()
{ {
if (!CURRENT_DATA_READ.atkSeen) return 0; if (CURRENT_DATA_READ.ballDistance <= STRIKER_ATTACK_DISTANCE) gotta_tilt = true;
if (CURRENT_DATA_READ.ballAngleFix >= 350 || CURRENT_DATA_READ.ballAngleFix <= 10) if (CURRENT_DATA_READ.ballDistance > STRIKER_ATTACK_DISTANCE && gotta_tilt) gotta_tilt = false;
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)) if (CURRENT_DATA_READ.atkSeen && gotta_tilt) return 0;
atk_tilt = 0; if (CURRENT_DATA_READ.ballAngle >= 345 || CURRENT_DATA_READ.ballAngle <= 15) atk_tilt = CURRENT_DATA_READ.angleAtkFix;
else gotta_tilt = false;
// if (CURRENT_DATA_READ.ballAngle >= 350 || CURRENT_DATA_READ.ballAngle <= 10)
// atk_tilt = (constrain(CURRENT_DATA_READ.angleAtkFix, -45, 45) + 360) % 360;
// else if((CURRENT_DATA_READ.ballAngle > 345 && CURRENT_DATA_READ.ballAngle < 350) || (CURRENT_DATA_READ.ballAngle > 10 && CURRENT_DATA_READ.ballAngle < 15))
// atk_tilt = 0;
atk_tilt = filter->calculate(atk_tilt); atk_tilt = filter->calculate(atk_tilt);
return atk_tilt; return atk_tilt;
} }