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precision shooter: spinning kick finally precise

pull/1/head
EmaMaker 2021-06-22 14:55:12 +02:00
parent f7a5b072df
commit c168d0a1b1
5 changed files with 25 additions and 16 deletions
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2
include/motors_movement/drivecontroller.h
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@ -20,7 +20,7 @@
//Max possible vel 310 //Max possible vel 310
#define MAX_VEL 60 #define MAX_VEL 70
#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)

4
include/sensors/data_source_camera_conicmirror.h
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@ -27,8 +27,8 @@ These values need to be subtracted from the coords used in setMoveSetpoints*/
// #define CAMERA_TRANSLATION_Y 7 // #define CAMERA_TRANSLATION_Y 7
//Robot with roller //Robot with roller
#define CAMERA_TRANSLATION_X 0 #define CAMERA_TRANSLATION_X -8
#define CAMERA_TRANSLATION_Y 0 #define CAMERA_TRANSLATION_Y 4
class DataSourceCameraConic : public DataSource{ class DataSourceCameraConic : public DataSource{

3
include/strategy_roles/precision_shooter.h
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@ -11,8 +11,9 @@
#define PS_PLUSANG_VISIONCONE 10 #define PS_PLUSANG_VISIONCONE 10
// There needs to be a little bit of space between the target point and the spot to be in // There needs to be a little bit of space between the target point and the spot to be in
#define PS_SPINNER_OVERHEAD 10 #define PS_SPINNER_OVERHEAD 7
#define KICK_LIMIT_TILT1 200
#define KICK_LIMIT_MAX 315 #define KICK_LIMIT_MAX 315
#define KICK_LIMIT_MIN 45 #define KICK_LIMIT_MIN 45

2
include/systems/position/positionsys_camera.h
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@ -20,7 +20,7 @@
//Actually it's ± MAX_VAL //Actually it's ± MAX_VAL
#define MAX_X 50 #define MAX_X 50
#define MAX_Y (CAMERA_CENTER_Y_ABS_SUM/2) #define MAX_Y (CAMERA_CENTER_Y_ABS_SUM/2)
#define DIST_MULT 3.5 #define DIST_MULT 5
#define VICINITY_DIST_TRESH 2 #define VICINITY_DIST_TRESH 2

30
src/strategy_roles/precision_shooter.cpp
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@ -39,11 +39,13 @@ int ball_catch_state = 0;
bool ball_catch_flag = false; bool ball_catch_flag = false;
unsigned long ball_catch_timer = 0; unsigned long ball_catch_timer = 0;
float ball_catch_tilt = 0; float ball_catch_tilt = 0;
int limitx = 0;
void PrecisionShooter::realPlay() void PrecisionShooter::realPlay()
{ {
if (CURRENT_DATA_READ.ballSeen) if (CURRENT_DATA_READ.ballSeen)
this->catchBall(); this->spinner(CURRENT_DATA_READ.xAtkFix);
// this->catchBall();
else{ else{
ps->goCenter(); ps->goCenter();
ball_catch_flag = false; ball_catch_flag = false;
@ -80,8 +82,8 @@ void PrecisionShooter::spinner(int targetx){
}else if(spinner_state == 1){ }else if(spinner_state == 1){
roller->speed(roller->MAX); roller->speed(roller->MAX);
int spotx; int spotx = targetx;
if(targetx > 0) spotx = targetx-PS_SPINNER_OVERHEAD; if(targetx >= 0) spotx = targetx-PS_SPINNER_OVERHEAD;
else spotx = targetx+PS_SPINNER_OVERHEAD; else spotx = targetx+PS_SPINNER_OVERHEAD;
if(((PositionSysCamera*)ps)->isInTheVicinityOf(spotx, 0)) { if(((PositionSysCamera*)ps)->isInTheVicinityOf(spotx, 0)) {
@ -97,12 +99,16 @@ void PrecisionShooter::spinner(int targetx){
spinner_tilt = CURRENT_DATA_READ.IMUAngle; spinner_tilt = CURRENT_DATA_READ.IMUAngle;
} }
if(CURRENT_DATA_READ.posx > targetx){ if(targetx >= 0) {
tilt1 = -0.15; tilt1 = -0.15;
tilt2 = 0.3; tilt2 = 0.55;
limitx = 360-KICK_LIMIT_TILT1;
}else{ }else{
tilt1 = 0.15; tilt1 = 0.15;
tilt2 = -0.3; tilt2 = -0.55;
limitx = KICK_LIMIT_TILT1;
} }
}else ((PositionSysCamera*)ps)->setMoveSetpoints(spotx, 0); }else ((PositionSysCamera*)ps)->setMoveSetpoints(spotx, 0);
@ -112,21 +118,23 @@ void PrecisionShooter::spinner(int targetx){
spinner_tilt += tilt1; spinner_tilt += tilt1;
drive->prepareDrive(0,0,spinner_tilt); drive->prepareDrive(0,0,spinner_tilt);
if(CURRENT_DATA_READ.IMUAngle > 175 && CURRENT_DATA_READ.IMUAngle < 185) { if(CURRENT_DATA_READ.IMUAngle > limitx-5 && CURRENT_DATA_READ.IMUAngle < limitx+5) {
spinner_timer = millis(); spinner_timer = millis();
spinner_state=3; spinner_state=3;
} }
}else if(spinner_state == 3){ }else if(spinner_state == 3){
roller->speed(roller->MAX); roller->speed(roller->MAX);
drive->prepareDrive(0,0,spinner_tilt); drive->prepareDrive(0,0,spinner_tilt);
if(millis() - spinner_timer > 1000) { if(millis() - spinner_timer > 150) {
spinner_state=4; spinner_state=4;
spinner_tilt = CURRENT_DATA_READ.IMUAngle; spinner_tilt = CURRENT_DATA_READ.IMUAngle;
} }
}else if(spinner_state == 4){ }else if(spinner_state == 4){
spinner_tilt += tilt2; drive->prepareDrive(0,0,0);
spinner_tilt = constrain(spinner_tilt, KICK_LIMIT_MIN, KICK_LIMIT_MAX);
drive->prepareDrive(0,0,spinner_tilt); // spinner_tilt += tilt2;
// spinner_tilt = constrain(spinner_tilt, KICK_LIMIT_MIN, KICK_LIMIT_MAX);
// drive->prepareDrive(0,0,spinner_tilt);
if(CURRENT_DATA_READ.IMUAngle >= KICK_LIMIT_MAX || CURRENT_DATA_READ.IMUAngle <= KICK_LIMIT_MIN) roller->speed(roller->MIN); if(CURRENT_DATA_READ.IMUAngle >= KICK_LIMIT_MAX || CURRENT_DATA_READ.IMUAngle <= KICK_LIMIT_MIN) roller->speed(roller->MIN);
} }