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SPQR-Team-2019-REVAMPED
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a 'pecionata' of a technical challenge 1. 19 goals/min 

the robot needs to face the defensive goal and it just recenters. Maybe one day we will remake the spinning kick to account any situations
pull/1/head
EmaMaker 2021-06-23 15:34:57 +02:00
parent dcfc28aab5
commit f1b675ecd1
7 changed files with 113 additions and 39 deletions
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4
include/motors_movement/drivecontroller.h
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@ -10,7 +10,7 @@
//BEST NUMBERS YET
//USE MOVING AVERAGE AND ANGLE WRAP
#define KP 0.8
#define KP 1.0
#define KI 0.5
#define KD 0.025
@ -20,7 +20,7 @@
//Max possible vel 310
#define MAX_VEL 70
#define MAX_VEL 110
#define MAX_VEL_EIGTH ((int)MAX_VEL*0.8)
#define MAX_VEL_HALF ((int)MAX_VEL*0.5)
#define MAX_VEL_3QUARTERS ((int)MAX_VEL*0.75)

2
include/sensors/data_source_camera_conicmirror.h
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@ -28,7 +28,7 @@ These values need to be subtracted from the coords used in setMoveSetpoints*/
//Robot with roller
#define CAMERA_TRANSLATION_X -8
#define CAMERA_TRANSLATION_Y 4
#define CAMERA_TRANSLATION_Y -3
class DataSourceCameraConic : public DataSource{

8
include/strategy_roles/striker_roller.h
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@ -13,9 +13,9 @@
// There needs to be a little bit of space between the target point and the spot to be in
#define STRL_SPINNER_OVERHEAD 7
#define STRL_KICK_LIMIT_TILT1 200
#define STRL_KICK_LIMIT_MAX 315
#define STRL_KICK_LIMIT_MIN 45
#define STRL_KICK_LIMIT_TILT1 180
#define STRL_KICK_LIMIT_MAX 300
#define STRL_KICK_LIMIT_MIN 60
class StrikerRoller : public Game{
@ -47,5 +47,7 @@ class StrikerRoller : public Game{
unsigned long ball_catch_timer = 0;
float ball_catch_tilt = 0;
int limitx = 0;
unsigned long spinner_end_time = 0;
bool spinner_end_flag = false;
};

14
src/main.cpp
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@ -53,13 +53,15 @@ void loop() {
// striker_condition = role == HIGH || ((Keeper*)keeper)->shouldStrike;
// keeper_condition = role == LOW;
tc1->play(1);
if(robot_indentifier){
tc1->play(1);
// if(roller->roller_armed) roller->speed(roller->MAX);
// Last thing to do: movement and update status vector
drive->drivePrepared();
}else{
drive->stopAll();
}
testmenu->testMenu();
// if(roller->roller_armed) roller->speed(roller->MAX);
// Last thing to do: movement and update status vector
drive->drivePrepared();
updateStatusVector();
}

2
src/motors_movement/drivecontroller.cpp
View File

@ -61,8 +61,8 @@ float DriveController::torad(float f){
}
void DriveController::drive(int dir, int speed, int tilt){
speed = speedFilter->calculate(speed)*GLOBAL_SPD_MULT;
//tilt = tilt > 180 ? tilt - 360 : tilt;
//TODO: Changing CURRENT_DATA_READ to CURRENT_DATA_WRITE?

121
src/strategy_roles/striker_roller.cpp
View File

@ -26,7 +26,7 @@ void StrikerRoller::init()
gotta_tilt = false;
ballAngleFilter = new ComplementaryFilter(0.85);
ballAngleFilter = new ComplementaryFilter(0);
}
void StrikerRoller::realPlay()
@ -71,44 +71,82 @@ void StrikerRoller::spinner(int targetx){
spinner_state=2;
spinner_flag = false;
// decide with direction to rotate
spinner_tilt = CURRENT_DATA_READ.IMUAngle;
if(CURRENT_DATA_READ.posx < targetx) {
tilt1 = -0.15;
tilt2 = 0.55;
if(CURRENT_DATA_READ.angleAtk >= 0) {
tilt1 = -0.25;
tilt2 = 5;
limitx = 360-STRL_KICK_LIMIT_TILT1;
}else{
tilt1 = 0.25;
tilt2 = -5;
limitx = STRL_KICK_LIMIT_TILT1;
}
// if(CURRENT_DATA_READ.posx >= -5 && CURRENT_DATA_READ.posx <= 5){
// if(CURRENT_DATA_READ.IMUAngle >= 180) {
// tilt1 = -0.25;
// tilt2 = 15;
// limitx = 360-STRL_KICK_LIMIT_TILT1;
// }else{
// tilt1 = 0.25;
// tilt2 = -15;
// limitx = STRL_KICK_LIMIT_TILT1;
// }
// }else if(CURRENT_DATA_READ.posx < -5){
// tilt1 = 0.25;
// tilt2 = -5;
// limitx = STRL_KICK_LIMIT_TILT1;
// }else if(CURRENT_DATA_READ.posx > 5){
// tilt1 = -0.25;
// tilt2 = 5;
// limitx = 360-STRL_KICK_LIMIT_TILT1;
// }
// if(CURRENT_DATA_READ.IMUAngle < limitx) tilt1 *= -1; //we need to invert the rotatiion if we are on the opposite side
limitx = 360-STRL_KICK_LIMIT_TILT1;
}else{
tilt1 = 0.15;
tilt2 = -0.55;
limitx = STRL_KICK_LIMIT_TILT1;
}
}else if(spinner_state == 2){
roller->speed(roller->MAX);
spinner_tilt += tilt1;
spinner_tilt = spinner_tilt + tilt1;
// This ensures no strange rotation happens
if(spinner_tilt <= -360) spinner_tilt+=360;
if(spinner_tilt >= 360) spinner_tilt -= 360;
drive->prepareDrive(0,0,spinner_tilt);
if(CURRENT_DATA_READ.IMUAngle > limitx-5 && CURRENT_DATA_READ.IMUAngle < limitx+5) {
spinner_timer = millis();
spinner_state=3;
spinner_tilt = CURRENT_DATA_READ.IMUAngle;
}
}else if(spinner_state == 3){
roller->speed(roller->MAX);
// stay there a little bit
drive->prepareDrive(0,0,spinner_tilt);
if(millis() - spinner_timer > 150) {
spinner_state=4;
spinner_tilt = CURRENT_DATA_READ.IMUAngle;
}
}else if(spinner_state == 4){
drive->prepareDrive(0,0,0);
// fast return which gives momentum to the ball
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);
spinner_tilt += tilt2;
spinner_tilt = constrain(spinner_tilt, 5, 355);
if(CURRENT_DATA_READ.IMUAngle >= STRL_KICK_LIMIT_MAX || CURRENT_DATA_READ.IMUAngle <= STRL_KICK_LIMIT_MAX) roller->speed(roller->MIN);
// turn roller off and kick
if(CURRENT_DATA_READ.IMUAngle >= STRL_KICK_LIMIT_MAX || CURRENT_DATA_READ.IMUAngle <= STRL_KICK_LIMIT_MAX) {
roller->speed(roller->MIN);
if(!spinner_end_flag){
spinner_end_time = millis();
spinner_end_flag = true;
}
}
// if(ballPresence->isInMouth()) {
// spinner_state = 1;
// spinner_flag = false;
// }
}
}
/*
@ -123,12 +161,18 @@ void StrikerRoller::catchBall(){
if(ball->isInFront() && roller->roller_armed) roller->speed(roller->MAX);
else roller->speed(roller->MIN);
// if(!ball->isInFront() && millis() - spinner_end_time > 500 && spinner_end_flag){
// ball_catch_state = 0;
// ball_catch_flag = false;
// spinner_end_flag = false;
// }
if(!ball->isInFront()){
ball_catch_state = 0;
ball_catch_flag = false;
}
if(ball_catch_state == 0){
// tilt torwards the ball until it's in the mouth
drive->prepareDrive(0, MAX_VEL_HALF, ballAngleFilter->calculate(CURRENT_DATA_READ.ballAngleFix));
if(ballPresence->isInMouth() && !ball_catch_flag){
@ -140,20 +184,45 @@ void StrikerRoller::catchBall(){
ball_catch_state++;
}
}else if(ball_catch_state == 1){
// go towards the goal without resetting tilt
// this makes it so that the robot sometimes walks backwards, hiding the ball from any opponent
// a spinning kick is the only way to free the ball here
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);
if(CURRENT_DATA_READ.distAtk <= 25){
ball_catch_state++;
spinner_state = 0;
spinner_flag = false;
spinner_tilt = 0;
// drive->prepareDrive(0,0,0);
if(CURRENT_DATA_READ.distAtk <= 26){
// ball_catch_state++;
// spinner_state = 0;
// spinner_flag = false;
// spinner_tilt = CURRENT_DATA_READ.IMUAngle;
drive->prepareDrive(0,0,0);
if(CURRENT_DATA_READ.IMUAngle >= STRL_KICK_LIMIT_MAX || CURRENT_DATA_READ.IMUAngle <= STRL_KICK_LIMIT_MAX) roller->speed(roller->MIN);
}
}else if(ball_catch_state == 2){
spinner(0);
// Spinny kick
// spinner(0);
if(CURRENT_DATA_READ.angleAtkFix >= 0) {
tilt2 = 3;
}else{
tilt2 = -3;
}
drive->prepareDrive(0,0,spinner_tilt);
spinner_tilt += tilt2;
spinner_tilt = constrain(spinner_tilt, 5, 355);
// turn roller off and kick
if(CURRENT_DATA_READ.IMUAngle >= STRL_KICK_LIMIT_MAX || CURRENT_DATA_READ.IMUAngle <= STRL_KICK_LIMIT_MAX) {
roller->speed(roller->MIN);
if(!spinner_end_flag){
spinner_end_time = millis();
spinner_end_flag = true;
}
}
}
}

1
src/test_menu.cpp
View File

@ -114,6 +114,7 @@ void TestMenu::testMenu()
ballPresence->test();
break;
case 'r':
drive->stopAll();
DEBUG.println("Roller at default speed");
roller->speed(roller->MAX);
break;