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SPQR-Team-2019-REVAMPED
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robocup: first technical challenge 

still could be better, faster and more precise in some parts
pull/1/head
EmaMaker 2021-06-22 20:53:11 +02:00
parent 5c085bb651
commit dcfc28aab5
5 changed files with 16 additions and 27 deletions
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4
include/motors_movement/drivecontroller.h
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@ -10,8 +10,8 @@
//BEST NUMBERS YET //BEST NUMBERS YET
//USE MOVING AVERAGE AND ANGLE WRAP //USE MOVING AVERAGE AND ANGLE WRAP
#define KP 1.2 #define KP 0.8
#define KI 0.0 #define KI 0.5
#define KD 0.025 #define KD 0.025
#define KSPD 0.3 #define KSPD 0.3

4
include/strategy_roles/games.h
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@ -20,4 +20,6 @@ g_extr Game* striker;
g_extr Game* striker_roller; g_extr Game* striker_roller;
g_extr Game* precision_shooter; g_extr Game* precision_shooter;
g_extr Game* pass_and_shoot; g_extr Game* pass_and_shoot;
// g_extr Game* keeper; // g_extr Game* keeper;
g_extr Game* tc1;

2
src/main.cpp
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@ -53,7 +53,7 @@ void loop() {
// striker_condition = role == HIGH || ((Keeper*)keeper)->shouldStrike; // striker_condition = role == HIGH || ((Keeper*)keeper)->shouldStrike;
// keeper_condition = role == LOW; // keeper_condition = role == LOW;
striker_roller->play(1); tc1->play(1);
testmenu->testMenu(); testmenu->testMenu();

1
src/strategy_roles/games.cpp
View File

@ -16,5 +16,6 @@ void initGames(){
pass_and_shoot = new PassAndShoot(new LineSysCamera(lIn, lOut), new PositionSysCamera()); pass_and_shoot = new PassAndShoot(new LineSysCamera(lIn, lOut), new PositionSysCamera());
precision_shooter = new PrecisionShooter(new LineSysCamera(lIn, lOut), new PositionSysCamera()); precision_shooter = new PrecisionShooter(new LineSysCamera(lIn, lOut), new PositionSysCamera());
striker_roller = new StrikerRoller(new LineSysCamera(lIn, lOut), new PositionSysCamera()); striker_roller = new StrikerRoller(new LineSysCamera(lIn, lOut), new PositionSysCamera());
tc1 = new StrikerRoller(new LineSystemEmpty(), new PositionSysCamera());
// keeper = new Keeper(new LineSysCamera(lOut, lOut), new PositionSysCamera()); // keeper = new Keeper(new LineSysCamera(lOut, lOut), new PositionSysCamera());
} }

32
src/strategy_roles/striker_roller.cpp
View File

@ -62,18 +62,16 @@ void StrikerRoller::spinner(int targetx){
spinner_timer = millis(); spinner_timer = millis();
} }
if(ballPresence->isInMouth() && spinner_flag && millis() - spinner_timer > 500) { if(ballPresence->isInMouth() && spinner_flag && millis() - spinner_timer > 50) {
spinner_state=1; spinner_state=1;
spinner_flag = false; spinner_flag = false;
} }
}else if(spinner_state == 1){ }else if(spinner_state == 1){
roller->speed(roller->MAX); roller->speed(roller->MAX);
if(ballPresence->isInMouth() && spinner_flag && millis() - spinner_timer > 500) { spinner_state=2;
spinner_state=2; spinner_flag = false;
spinner_flag = false; spinner_tilt = CURRENT_DATA_READ.IMUAngle;
spinner_tilt = CURRENT_DATA_READ.IMUAngle;
}
if(CURRENT_DATA_READ.posx < targetx) { if(CURRENT_DATA_READ.posx < targetx) {
tilt1 = -0.15; tilt1 = -0.15;
@ -86,7 +84,6 @@ void StrikerRoller::spinner(int targetx){
limitx = STRL_KICK_LIMIT_TILT1; limitx = STRL_KICK_LIMIT_TILT1;
} }
spinner_state=1;
}else if(spinner_state == 2){ }else if(spinner_state == 2){
roller->speed(roller->MAX); roller->speed(roller->MAX);
@ -139,33 +136,25 @@ void StrikerRoller::catchBall(){
ball_catch_timer = millis(); ball_catch_timer = millis();
} }
if(ballPresence->isInMouth() && ball_catch_flag && millis() - ball_catch_timer > 350) { if(ballPresence->isInMouth() && ball_catch_flag && millis() - ball_catch_timer > 50) {
ball_catch_state++; ball_catch_state++;
ball_catch_tilt = CURRENT_DATA_READ.IMUAngle;
} }
}else if(ball_catch_state == 1){ }else if(ball_catch_state == 1){
int val = ballAngleFilter->calculate(CURRENT_DATA_READ.ballAngleFix); int val = ballAngleFilter->calculate(CURRENT_DATA_READ.ballAngleFix);
// val = val > 10 || val < 10 ? val : 0;
drive->prepareDrive(drive->directionAccountingForTilt(CURRENT_DATA_READ.angleAtkFix, val ),MAX_VEL_HALF,val); drive->prepareDrive(drive->directionAccountingForTilt(CURRENT_DATA_READ.angleAtkFix, val ),MAX_VEL_HALF,val);
if(CURRENT_DATA_READ.distAtk <= 30){ if(CURRENT_DATA_READ.distAtk <= 25){
ball_catch_state++; ball_catch_state++;
spinner_state = 0; spinner_state = 0;
spinner_flag = false; spinner_flag = false;
spinner_tilt = 0; spinner_tilt = 0;
drive->prepareDrive(0,0,0); // drive->prepareDrive(0,0,0);
} }
}else if(ball_catch_state == 2){ }else if(ball_catch_state == 2){
spinner(0); spinner(0);
} }
// if(ball_catch_tilt > 180) ball_catch_tilt += 0.15;
// else if(ball_catch_tilt <= 180) ball_catch_tilt -= 0.15;
// drive->prepareDrive(0,0,ball_catch_tilt);
// if(CURRENT_DATA_READ.IMUAngle >= 355 || CURRENT_DATA_READ.IMUAngle <= 5) ball_catch_state = 0;
// ((PositionSysCamera*)ps)->setMoveSetpoints(CURRENT_DATA_READ.xAtkFix, 0);
// if(((PositionSysCamera*)ps)->isInTheVicinityOf(CURRENT_DATA_READ.xAtkFix, 0)) ball_catch_state++;
} }
int StrikerRoller::tilt() { int StrikerRoller::tilt() {
@ -173,9 +162,6 @@ int StrikerRoller::tilt() {
else gotta_tilt = false; else gotta_tilt = false;
if(!gotta_tilt || !CURRENT_DATA_READ.atkSeen) { if(!gotta_tilt || !CURRENT_DATA_READ.atkSeen) {
atk_tilt *= 0.8;
if(atk_tilt <= 10) atk_tilt = 0;
}else{
atk_tilt = roller->roller_armed ? CURRENT_DATA_READ.angleAtkFix : constrain(CURRENT_DATA_READ.angleAtkFix, -45, 45); atk_tilt = roller->roller_armed ? CURRENT_DATA_READ.angleAtkFix : constrain(CURRENT_DATA_READ.angleAtkFix, -45, 45);
} }