merged code

README.md

@@ -1,2 +1,4 @@
-# SPQR-Team-2020
+# SPQR1 2020
-culo
+
+SPQR1 Team 2020 Robot project repo.
+Based in ITIS G. Galilei Rome

include/data_source_controller.h

@@ -0,0 +1,23 @@
+#pragma once
+#include "data_source.h"
+#include "vars.h"
+#include <Arduino.h>
+#include <vector>
+
+using namespace std;
+class DataSourceController {
+
+    public:
+        DataSourceController();
+        DataSourceController(vector<DataSource*>);
+
+    public:
+        void update();
+        void test();
+        void postProcess();
+        void readSensor();
+        void getValue();
+
+        vector<DataSource*> ds;
+
+};

include/game.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include "data_source.h"
+#include "data_source_ball.h"
+#include "motor.h"
+#include "drivecontroller.h"
+#include "sensors.h"
+#include "vars.h"
+#include "data_source_bno055.h"
+#include "goalie.h"
+#include "keeper.h"
+
+class Game{
+    public:
+        Game();
+        //void keeper();
+        //void goalie();
+        //void ballBack();
+        bool role, attackGoal; //1->goalie 0->keeper, 1->yellow 0->blue
+        //~Game();
+};

include/goalie.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include "game.h"
+
+class Goalie{
+
+    public:
+        Goalie();
+        void goalie();
+        void ballBack();
+        //void rigore(); to be implemented
+
+};

include/keeper.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "game.h"
+
+class Keeper{
+
+    public:
+        Keeper();
+        void keeper();
+        //void keeperGoalie(); to be implemented
+};

include/sensors.h

@@ -1,4 +1,5 @@
 #include <Arduino.h>
+#pragma once
 #include "data_source_bno055.h"
 #include "data_source_ball.h"
 #include "data_source_camera.h"
@@ -7,23 +8,31 @@
 #include "motor.h"
 #include "ds_ctrl.h"
 #include "drivecontroller.h"
-
+#include "game.h"
 #ifdef SENSORS_CPP
 #define extr 
 #else
 #define extr extern
 #endif
 
+class Game;
+class Goalie;
+class Keeper;
 void initSensors();
 void updateSensors();
 
-extr DataSource* compass;
-extr DataSource* ball;
-extr DataSource* camera;
-extr DataSourceCtrl* usCtrl;
-extr DataSourceCtrlLines* linesCtrl;
-extr DriveController* drive;
-
 extr vector<DataSource*> lIn;
 extr vector<DataSource*> lOut;
 extr vector<DataSource*> dUs;
+
+extr DataSourceCtrl* usCtrl;
+extr DataSourceCtrlLines* linesCtrl;
+
+extr DataSourceBNO055* compass;
+extr DataSourceBall* ball;
+extr DataSourceCamera* camera;
+extr DriveController* drive;
+
+extr Game* game;
+extr Goalie* goalie;
+extr Keeper* keeper;

src/game.cpp

@@ -0,0 +1,29 @@
+#include "game.h"
+
+Game::Game(){
+
+}
+
+/* void Game::goalie(){
+  /*   //drive->prepareDrive(0, 150, 0);
+    digitalWrite(LED_G, HIGH);
+    if(ball->ballSeen){
+        if(ball->angle >= 0 && ball->angle < 45) drive->drive(0, 75, 0);
+        else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(45, 75, 0);
+        else if(ball->angle > 60 && ball->angle < 90) drive->drive(75, 75, 0);
+        else if(ball->angle >= 90 && ball->angle < 135) drive->drive(90, 75, 0);
+    } else {
+        drive->prepareDrive(0, 0, 0);
+        drive->drive(0, 0, 0);
+    }
+}
+
+void Game::keeper(){
+    digitalWrite(LED_Y, HIGH);
+    drive->prepareDrive(0, 0, 0);
+    drive->drive(0, 0, 0);
+}
+
+void ballBack(){
+
+} */

src/goalie.cpp

@@ -0,0 +1,22 @@
+#include "goalie.h"
+
+Goalie::Goalie(){
+
+}
+
+void Goalie::goalie(){
+    digitalWrite(LED_G, HIGH);
+    if(ball->ballSeen){
+        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 > 60 && ball->angle < 90) drive->drive(ball->angle, 75, 0);
+        else if(ball->angle >= 90 && ball->angle < 135) drive->drive(ball->angle, 75, 0); 
+    } else {
+        drive->prepareDrive(0, 0, 0);
+        drive->drive(0, 0, 0);
+    }
+}
+
+void Goalie::ballBack(){
+
+}

src/keeper.cpp

@@ -0,0 +1,15 @@
+#include "keeper.h"
+
+Keeper::Keeper(){
+
+}
+
+void Keeper::keeper(){
+    digitalWrite(LED_Y, HIGH);
+    drive->prepareDrive(0, 0, 0);
+    drive->drive(0, 0, 0);
+}
+
+/* void Keeper::keeperGoalie(){
+    to be implemented
+} */

src/main.cpp

@@ -1,8 +1,6 @@
 #include <Arduino.h>
-#include "vars.h"
+
-#include "data_source_bno055.h"
+#include "game.h"
-#include "drivecontroller.h"
-#include "sensors.h"
 
 
 void setup() {

src/sensors.cpp

@@ -17,6 +17,10 @@ void initSensors(){
     camera = new DataSourceCamera(&Serial2, 19200);
     usCtrl = new DataSourceCtrl(dUs);
     linesCtrl = new DataSourceCtrlLines(lIn, lOut);
+
+    game = new Game();
+    goalie = new Goalie();
+    keeper = new Keeper();
 }
 
 void updateSensors(){