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some robot-specific value tweaking

pull/1/head
emamaker 2022-06-09 10:03:48 +02:00
parent 410ff27708
commit 6d2c43d93a
4 changed files with 13 additions and 10 deletions
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2
include/motors_movement/drivecontroller.h
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@ -22,7 +22,7 @@
// #define MAX_POSSIBLE_VEL 310 // #define MAX_POSSIBLE_VEL 310
#define MAX_POSSIBLE_VEL 280 #define MAX_POSSIBLE_VEL 280
#define MAX_VEL 60 #define MAX_VEL 280
#define MAX_VEL_EIGTH ((int)MAX_VEL*0.8) #define MAX_VEL_EIGTH ((int)MAX_VEL*0.8)
#define MAX_VEL_HALF ((int)MAX_VEL*0.5) #define MAX_VEL_HALF ((int)MAX_VEL*0.5)
#define MAX_VEL_3QUARTERS ((int)MAX_VEL*0.75) #define MAX_VEL_3QUARTERS ((int)MAX_VEL*0.75)

7
include/strategy_roles/striker.h
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@ -6,8 +6,8 @@
#define STRIKER_ATTACK_DISTANCE 110 #define STRIKER_ATTACK_DISTANCE 110
#define STRIKER_TILT_STOP_DISTANCE 140 #define STRIKER_TILT_STOP_DISTANCE 140
#define STRIKER_PLUSANG 62 #define STRIKER_PLUSANG 70
#define STRIKER_PLUSANG_VISIONCONE 7 #define STRIKER_PLUSANG_VISIONCONE 0
class Striker : public Game{ class Striker : public Game{
@ -25,5 +25,8 @@ class Striker : public Game{
int atk_speed, atk_direction; int atk_speed, atk_direction;
float atk_tilt, ball_tilt; float atk_tilt, ball_tilt;
int ball_angle_filter;
ComplementaryFilter* ball_filter;
bool gotta_tilt; bool gotta_tilt;
}; };

4
include/systems/lines/linesys_camera.h
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@ -16,8 +16,8 @@
#define S4I A1 #define S4I A1
#define S4O A2 #define S4O A2
#define LINE_THRESH_CAM 350 #define LINE_THRESH_CAM 100
#define EXIT_TIME 300 #define EXIT_TIME 100
class LineSysCamera : public LineSystem{ class LineSysCamera : public LineSystem{

10
include/systems/position/positionsys_camera.h
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@ -7,7 +7,7 @@
//Camera center: those setpoints correspond to what we consider the center of the field //Camera center: those setpoints correspond to what we consider the center of the field
#define CAMERA_CENTER_X 0 #define CAMERA_CENTER_X 0
#define CAMERA_CENTER_Y 0 #define CAMERA_CENTER_Y -20
//Camera goal: those setpoints correspond to the position of the center of the goal on the field //Camera goal: those setpoints correspond to the position of the center of the goal on the field
#define CAMERA_GOAL_X 0 #define CAMERA_GOAL_X 0
@ -26,11 +26,11 @@
#define VICINITY_DIST_TRESH 2 #define VICINITY_DIST_TRESH 2
#define ROUGH_VICINITY_DIST_TRESH 10 #define ROUGH_VICINITY_DIST_TRESH 10
#define Kpx 1 #define Kpx 2.5
#define Kix 0 #define Kix 0.1
#define Kdx 0 #define Kdx 0
#define Kpy 1 #define Kpy 3.5
#define Kiy 0 #define Kiy 0.1
#define Kdy 0 #define Kdy 0
class PositionSysCamera : public PositionSystem{ class PositionSysCamera : public PositionSystem{