From f11127bb404be34db5af4d1ee0a03142da1b5b02 Mon Sep 17 00:00:00 2001
From: EmaMaker <emamaker0@gmail.com>
Date: Tue, 11 May 2021 15:21:22 +0200
Subject: [PATCH] roller: activate when ball is in front

do not take distance into account
---
 include/sensors/data_source_ball.h |  1 +
 src/main.cpp                       | 11 +++++++----
 src/sensors/data_source_ball.cpp   |  8 ++++++--
 src/strategy_roles/striker.cpp     | 18 ++++--------------
 4 files changed, 18 insertions(+), 20 deletions(-)

diff --git a/include/sensors/data_source_ball.h b/include/sensors/data_source_ball.h
index 905294c..b028a99 100644
--- a/include/sensors/data_source_ball.h
+++ b/include/sensors/data_source_ball.h
@@ -15,6 +15,7 @@ class DataSourceBall : public DataSource{
         void test() override;
         bool isInMouth();
         bool isInMouthMaxDistance();
+        bool isInFront();
         
         int angle, distance, angleFix;
         bool ballSeen;
diff --git a/src/main.cpp b/src/main.cpp
index b4519ca..9d7453a 100755
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -29,17 +29,20 @@ void setup() {
   testmenu = new TestMenu();
   tone(BUZZER, 240, 250);
   initStatusVector();
+  delay(100);
+
   tone(BUZZER, 260, 250);
   initSensors();
+  delay(500);
+  
   tone(BUZZER, 320, 250);
   initGames();
-
-  delay(500);
-
-  drive->prepareDrive(0,0,0);
+  delay(200);
 
   //Startup sound
   tone(BUZZER, 350.00, 250);
+
+  drive->prepareDrive(0,0,0);
 }
 
 void loop() {
diff --git a/src/sensors/data_source_ball.cpp b/src/sensors/data_source_ball.cpp
index 8d173e2..806075b 100644
--- a/src/sensors/data_source_ball.cpp
+++ b/src/sensors/data_source_ball.cpp
@@ -40,10 +40,14 @@ void DataSourceBall :: test(){
     // }
 }
 
+bool DataSourceBall::isInFront(){
+  return (CURRENT_DATA_READ.ballAngle > MOUTH_MIN_ANGLE || CURRENT_DATA_READ.ballAngle < MOUTH_MAX_ANGLE );
+}
+
 bool DataSourceBall::isInMouth(){
-  return (CURRENT_DATA_READ.ballAngle > MOUTH_MIN_ANGLE || CURRENT_DATA_READ.ballAngle < MOUTH_MAX_ANGLE ) && CURRENT_DATA_READ.ballDistance<=MOUTH_DISTANCE;
+  return isInFront() && CURRENT_DATA_READ.ballDistance<=MOUTH_DISTANCE;
 }
 
 bool DataSourceBall::isInMouthMaxDistance(){
-  return (CURRENT_DATA_READ.ballAngle>MOUTH_MIN_ANGLE || CURRENT_DATA_READ.ballAngle<MOUTH_MAX_ANGLE) && CURRENT_DATA_READ.ballDistance <= MOUTH_MAX_DISTANCE;
+  return isInFront() && CURRENT_DATA_READ.ballDistance <= MOUTH_MAX_DISTANCE;
 }
\ No newline at end of file
diff --git a/src/strategy_roles/striker.cpp b/src/strategy_roles/striker.cpp
index d53e226..080a133 100644
--- a/src/strategy_roles/striker.cpp
+++ b/src/strategy_roles/striker.cpp
@@ -56,24 +56,14 @@ int Striker::tilt() {
   else gotta_tilt = false;
 
   if(!gotta_tilt || !CURRENT_DATA_READ.atkSeen) {
-    roller->speed(roller->MIN);
     atk_tilt *= 0.8;
     if(atk_tilt <= 10) atk_tilt = 0;
   }else{
-    roller->speed(ROLLER_DEFAULT_SPEED);
-    atk_tilt = constrain(CURRENT_DATA_READ.angleAtkFix, -45, 45);
+    atk_tilt = roller->roller_armed ? CURRENT_DATA_READ.angleAtkFix : constrain(CURRENT_DATA_READ.angleAtkFix, -45, 45);
   }
 
+  if(ball->isInFront()) roller->speed(ROLLER_DEFAULT_SPEED);
+  else roller->speed(roller->MIN);
+
   return atk_tilt;
-
-  // if (ball->isInMouth() || (ball->isInMouthMaxDistance() && gotta_tilt)) gotta_tilt = true;
-  // else gotta_tilt = false;
-
-  // if(!gotta_tilt || !CURRENT_DATA_READ.atkSeen) {
-  //   roller->speed(roller->MIN);
-  //   return 0;
-  // }else{
-  //   roller->speed(ROLLER_DEFAULT_SPEED);
-  //   return constrain(CURRENT_DATA_READ.angleAtkFix, -45, 45);
-  // }
 }
\ No newline at end of file