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striker: orbital striker with lines

pull/1/head
emamaker 2022-06-09 10:03:19 +02:00
parent 6a1b35b8cf
commit 410ff27708
2 changed files with 26 additions and 29 deletions
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15
src/strategy_roles/games.cpp
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@ -8,9 +8,18 @@
#include "strategy_roles/games.h" #include "strategy_roles/games.h"
void initGames(){ void initGames(){
vector<DataSource*> lIn = { new DataSource(S1I, true), new DataSource(S2I, true), new DataSource(S3I, true), new DataSource(S4I, true) }; std::vector<DataSource*> lIn;
vector<DataSource*> lOut = { new DataSource(S1O, true), new DataSource(S2O, true), new DataSource(S3O, true), new DataSource(S4O, true) }; lIn.push_back(new DataSource(S1I, true));
lIn.push_back(new DataSource(S2I, true));
lIn.push_back(new DataSource(S3I, true));
lIn.push_back(new DataSource(S4I, true));
std::vector<DataSource*> lOut;
lOut.push_back(new DataSource(S1O, true));
lOut.push_back(new DataSource(S2O, true));
lOut.push_back(new DataSource(S3O, true));
lOut.push_back(new DataSource(S4O, true));
striker = new Striker(new LineSysCamera(lIn, lOut), new PositionSysCamera()); striker = new Striker(new LineSysCamera(lIn, lOut), new PositionSysCamera());
keeper = new Keeper(new LineSysCamera(lOut, lOut), new PositionSysCamera()); keeper = new Keeper(new LineSystemEmpty(), new PositionSystemEmpty());
} }

40
src/strategy_roles/striker.cpp
View File

@ -22,47 +22,34 @@ void Striker::init()
atk_speed = 0; atk_speed = 0;
atk_direction = 0; atk_direction = 0;
atk_tilt = 0; atk_tilt = 0;
ball_angle_filter = 0;
gotta_tilt = false; gotta_tilt = false;
ball_filter = new ComplementaryFilter(1);
} }
void Striker::realPlay() void Striker::realPlay()
{ {
ball_angle_filter = ball_filter->calculate(CURRENT_DATA_READ.ballAngle);
if (CURRENT_DATA_READ.ballSeen) if (CURRENT_DATA_READ.ballSeen)
this->striker(); this->striker();
else{ else{
ps->goCenter(); ps->goCenter();
roller->speed(roller->MIN);
} }
} }
float ctilt = 0; float ctilt = 0;
unsigned long ttilt = 0; unsigned long ttilt = 0;
/*void Striker::striker(){
//seguo palla
if(ball->isInFront() && roller->roller_armed) roller->speed(ROLLER_DEFAULT_SPEED);
else roller->speed(roller->MIN);
int ball_angle = CURRENT_DATA_READ.ballAngleFix;
if(ball_angle > 180) ball_angle -= 360;
if(!ball->isInMouth())ttilt=millis();
// int tmp_ball_tilt = (0.25f*ball_angle+old_ball_Angle*0.75f);
// ball_tilt = ball->isInMouth() ? ball_angle : ballTilt();
// // drive->prepareDrive(0,30,ball->isInMouth() && roller->roller_armed ? tilt() : ballTilt());
drive->prepareDrive(0,30, millis() - ttilt > 250 ? tilt(): ball_angle);
// old_ball_Angle = ball_angle;
// old_ball_tilt = (int) ball_tilt;
}*/
void Striker::striker(){ void Striker::striker(){
if(CURRENT_DATA_READ.ballDistance >= 125){
drive->prepareDrive(ball_angle_filter > 180 ? ball_angle_filter*0.96 : ball_angle_filter*1.04, MAX_VEL_3QUARTERS, 0);
}else
{
//seguo palla //seguo palla
int ball_degrees2, dir, ball_deg = CURRENT_DATA_READ.ballAngle, plusang = STRIKER_PLUSANG; int ball_degrees2, dir, ball_deg = ball_angle_filter, plusang = STRIKER_PLUSANG;
if(ball_deg >= 344 || ball_deg <= 16) plusang = STRIKER_PLUSANG_VISIONCONE; //se ho la palla in un range di +-20 davanti, diminuisco di 20 il plus if(ball_deg >= 344 || ball_deg <= 16) plusang = STRIKER_PLUSANG_VISIONCONE; //se ho la palla in un range di +-20 davanti, diminuisco di 20 il plus
if(ball_deg > 180) ball_degrees2 = ball_deg - 360; //ragiono in +180 -180 if(ball_deg > 180) ball_degrees2 = ball_deg - 360; //ragiono in +180 -180
@ -73,10 +60,11 @@ void Striker::striker(){
dir = (dir + 360) % 360; dir = (dir + 360) % 360;
// drive->prepareDrive(dir, MAX_VEL_HALF, tilt()); // drive->prepareDrive(dir, MAX_VEL_HALF, tilt());
drive->prepareDrive(dir, MAX_VEL_HALF, 0); drive->prepareDrive(dir, MAX_VEL_3QUARTERS, CURRENT_DATA_READ.ballAngle <= 90 || CURRENT_DATA_READ.ballAngle >= 270 ? CURRENT_DATA_READ.angleAtkFix : 0);
if(ball->isInFront() && roller->roller_armed) roller->speed(ROLLER_DEFAULT_SPEED); // if(ball->isInFront() && roller->roller_armed) roller->speed(ROLLER_DEFAULT_SPEED);
else roller->speed(roller->MIN); // else roller->speed(roller->MIN);
}
} }