From bc0b19ccf181a7b4e62a7ae1772391cacb25f279 Mon Sep 17 00:00:00 2001
From: u-siri-ous <sanninosiria@gmail.com>
Date: Sat, 14 Mar 2020 19:43:51 +0100
Subject: [PATCH] started thinking about goalie, to be tested, dunno if it
 works

---
 src/strategy_roles/goalie.cpp | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/src/strategy_roles/goalie.cpp b/src/strategy_roles/goalie.cpp
index 4085f83..cbcc3d7 100644
--- a/src/strategy_roles/goalie.cpp
+++ b/src/strategy_roles/goalie.cpp
@@ -30,19 +30,23 @@ int dir, degrees2;
 void Goalie::goalie(int plusang) {
   if(ball->distance < CATCH_DIST) drive->prepareDrive(ball->angle, 350, 0);
   else{
-    if(ball->angle > 345 || ball->angle < 15) plusang *= 0.15;
+/*     if(ball->angle > 345 || ball->angle < 15) plusang *= 0.15;
+    FRONT */
+    if (ball->angle > 345 && ball->angle < 15) plusang *= 0.15;
     if(ball->angle > 180) degrees2 = ball->angle - 360;
     else degrees2 = ball->angle;
 
     if(degrees2 > 0) dir = ball->angle + plusang;              //45 con 8 ruote
-    else 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;
 
     storcimentoPorta();
-    if(ball->distance > TILT_DIST && (ball->angle > 340 || ball->angle < 20)) drive->prepareDrive(dir, 350, cstorc);
-    else {
+    if(ball->distance > TILT_DIST && (ball->angle > 340 || ball->angle < 20)){
+      plusang -= 20;
+      drive->prepareDrive(dir, 350, cstorc);
+    } else {
       drive->prepareDrive(dir, 350, 0);
       cstorc = 0;
     }