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pull/1/head
u-siri-ous 2019-12-05 12:53:14 +01:00
parent c3bb06f89d
commit 4e3bf45bcb
4 changed files with 191 additions and 14 deletions
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26
include/goalie.h
View File

@ -2,12 +2,34 @@
#include "game.h" #include "game.h"
#define GOALIE_ATKSPD_LAT 255
#define GOALIE_ATKSPD_BAK 350
#define GOALIE_ATKSPD_FRT 345
#define GOALIE_ATKSPD_STRK 355
#define GOALIE_ATKDIR_PLUSANG1 20
#define GOALIE_ATKDIR_PLUSANG2 35
#define GOALIE_ATKDIR_PLUSANG3 40
#define GOALIE_ATKDIR_PLUSANGBAK 40
#define GOALIE_ATKDIR_PLUSANG1_COR 60
#define GOALIE_ATKDIR_PLUSANG2_COR 70
#define GOALIE_ATKDIR_PLUSANG3_COR 70
class Goalie{ class Goalie{
public: public:
Goalie(); void 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
}; };

94
src/goalie.cpp
View File

@ -1,11 +1,79 @@
#include "goalie.h" #include "goalie.h"
Goalie::Goalie(){ /* Goalie::Goalie(){
digitalWrite(LED_Y, LOW);
} */
} /* void Goalie::goalie(){
digitalWrite(LED_Y, LOW);
if(ball->angle >= 350 || ball->angle <= 10) {
if(ball->distance > 190) atk_direction = 0;
else atk_direction = ball->angle;
atk_speed = GOALIE_ATKSPD_FRT;
}
void Goalie::goalie(){ if(ball->angle >= 90 && ball->angle <= 270) {
digitalWrite(LED_G, HIGH); 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);
/* 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(ball->angle, 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);
@ -14,9 +82,21 @@ void Goalie::goalie(){
} 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;
int dir;
int plusang;
if(ball->distance > 130) plusang = GOALIE_ATKDIR_PLUSANGBAK;
else plusang = 0;
if(ball->angle > 180) ballangle2 = ball->angle - 360;
else ballangle2 = ball->angle;
if(ballangle2 > 0) dir = ball->angle + plusang; //45 con 8 ruote
else dir = ball->angle - plusang; //45 con 8 ruote
if(dir < 0) dir = dir + 360;
else dir = dir;
atk_direction = dir;
} }

83
src/main.cpp
View File

@ -1,6 +1,82 @@
#include <Arduino.h> #include <Arduino.h>
#include "game.h" #include "game.h"
#include "goalie.h"
class Trial{
public:
void trial(){
digitalWrite(LED_Y, LOW);
if(ball->angle >= 350 || ball->angle <= 10) {
if(ball->distance > 190) goalie->atk_direction = 0;
else goalie->atk_direction = ball->angle;
goalie->atk_speed = GOALIE_ATKSPD_FRT;
}
if(ball->angle >= 90 && ball->angle <= 270) {
goalie->ballBack();
goalie->atk_speed = GOALIE_ATKSPD_BAK;
}
if(digitalRead(SWITCH_DX) == 1) {
if(ball->angle > 10 && ball->angle < 30) {
goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG1;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle >= 30 && ball->angle < 45) {
goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG2;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle >= 45 && ball->angle < 90) {
goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG3;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle > 270 && ball->angle <= 315) {
goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG3_COR;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle > 315 && ball->angle <= 330) {
goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG2_COR;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle > 330 && ball->angle < 350) {
goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG1_COR;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
} else {
if(ball->angle > 10 && ball->angle < 30) {
goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG1_COR;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle >= 30 && ball->angle < 45) {
goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG2_COR;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle >= 45 && ball->angle < 90) {
goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG3_COR;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle > 270 && ball->angle <= 315) {
goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG3;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle > 315 && ball->angle <= 330) {
goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG2;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle > 330 && ball->angle < 350) {
goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG1;
goalie->atk_speed = GOALIE_ATKSPD_LAT;
}
}
if((ball->angle >= 330 || ball->angle <= 30) && ball->distance > 190) { //storcimento
goalie->atk_speed = GOALIE_ATKSPD_STRK; //dove i gigahertz hanno fallito
drive->prepareDrive(goalie->atk_direction, goalie->atk_speed, 0);
}
else drive->prepareDrive(goalie->atk_direction, goalie->atk_speed, 0);
}
};
void setup() { void setup() {
@ -13,9 +89,10 @@ void setup() {
void loop() { void loop() {
updateSensors(); updateSensors();
Trial trial;
drive->prepareDrive(0,0,0); trial.trial();
linesCtrl->update(); //drive->prepareDrive(0,0,0);
//linesCtrl->update();
drive->drivePrepared(); drive->drivePrepared();

2
src/motor.cpp
View File

@ -11,8 +11,6 @@ Motor::Motor(int a, int b, int pwm, int angle_){
pinMode(pinA, OUTPUT); pinMode(pinA, OUTPUT);
pinMode(pinB, OUTPUT); pinMode(pinB, OUTPUT);
pinMode(pinPwm, OUTPUT); pinMode(pinPwm, OUTPUT);
angle = 0;
} }
Motor::Motor(){ } Motor::Motor(){ }