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precision shooter: improve spinning kick

pull/1/head
EmaMaker 2021-06-21 20:00:31 +02:00
parent 827e063155
commit fc485a021a
3 changed files with 26 additions and 19 deletions
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4
include/sensors/data_source_camera_conicmirror.h
View File

@ -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 4 #define CAMERA_TRANSLATION_X -5
#define CAMERA_TRANSLATION_Y 7 #define CAMERA_TRANSLATION_Y 0
class DataSourceCameraConic : public DataSource{ class DataSourceCameraConic : public DataSource{

5
include/strategy_roles/precision_shooter.h
View File

@ -11,7 +11,10 @@
#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 6 #define PS_SPINNER_OVERHEAD 10
#define KICK_LIMIT_MAX 315
#define KICK_LIMIT_MIN 45
class PrecisionShooter : public Game{ class PrecisionShooter : public Game{

36
src/strategy_roles/precision_shooter.cpp
View File

@ -32,7 +32,7 @@ void PrecisionShooter::init()
void PrecisionShooter::realPlay() void PrecisionShooter::realPlay()
{ {
if (CURRENT_DATA_READ.ballSeen) if (CURRENT_DATA_READ.ballSeen)
this->spinner(0); this->spinner(5);
else else
ps->goCenter(); ps->goCenter();
} }
@ -65,7 +65,7 @@ void PrecisionShooter::spinner(int targetx){
} }
if(ballPresence->isInMouth() && spinner_flag && millis() - spinner_timer > 500) { if(ballPresence->isInMouth() && spinner_flag && millis() - spinner_timer > 500) {
spinner_state++; spinner_state=1;
spinner_flag = false; spinner_flag = false;
} }
}else if(spinner_state == 1){ }else if(spinner_state == 1){
@ -75,27 +75,28 @@ void PrecisionShooter::spinner(int 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, 5)) { if(((PositionSysCamera*)ps)->isInTheVicinityOf(spotx, 0)) {
if( !spinner_flag){ if( !spinner_flag){
spinner_flag = true; spinner_flag = true;
spinner_timer = millis(); spinner_timer = millis();
} }
if(ballPresence->isInMouth() && spinner_flag && millis() - spinner_timer > 750) { if(ballPresence->isInMouth() && spinner_flag && millis() - spinner_timer > 500) {
spinner_state++; 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 = -0.075; tilt1 = -0.15;
tilt2 = 0.3; tilt2 = 0.3;
}else{ }else{
tilt1 = 0.075; tilt1 = 0.15;
tilt2 = -0.3; tilt2 = -0.3;
} }
}else ((PositionSysCamera*)ps)->setMoveSetpoints(spotx, 5);
}else ((PositionSysCamera*)ps)->setMoveSetpoints(spotx, 0);
}else if(spinner_state == 2){ }else if(spinner_state == 2){
roller->speed(roller->MAX); roller->speed(roller->MAX);
@ -103,21 +104,22 @@ void PrecisionShooter::spinner(int targetx){
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 > 175 && CURRENT_DATA_READ.IMUAngle < 185) {
spinner_state++;
spinner_tilt = CURRENT_DATA_READ.IMUAngle;
spinner_timer = millis(); spinner_timer = millis();
spinner_state=3;
} }
}else if(spinner_state == 3){ }else if(spinner_state == 3){
roller->speed(roller->MAX); roller->speed(roller->MAX);
if(millis() - spinner_timer > 2000) spinner_state++; drive->prepareDrive(0,0,spinner_tilt);
if(millis() - spinner_timer > 1000) {
spinner_state=4;
spinner_tilt = CURRENT_DATA_READ.IMUAngle;
}
}else if(spinner_state == 4){ }else if(spinner_state == 4){
spinner_tilt += tilt2; spinner_tilt += tilt2;
spinner_tilt = constrain(spinner_tilt, KICK_LIMIT_MIN, KICK_LIMIT_MAX);
drive->prepareDrive(0,0,spinner_tilt); drive->prepareDrive(0,0,spinner_tilt);
if(CURRENT_DATA_READ.IMUAngle > 215 || CURRENT_DATA_READ.IMUAngle < 125) roller->speed(roller->MIN); if(CURRENT_DATA_READ.IMUAngle >= KICK_LIMIT_MAX || CURRENT_DATA_READ.IMUAngle <= KICK_LIMIT_MIN) roller->speed(roller->MIN);
if(CURRENT_DATA_READ.IMUAngle > 355 || CURRENT_DATA_READ.IMUAngle < 10) spinner_state++;
} }
} }
/* /*
@ -133,7 +135,7 @@ float ball_catch_tilt = 0;
void PrecisionShooter::catchBall(){ void PrecisionShooter::catchBall(){
if(ball->isInFront() && roller->roller_armed) roller->speed(ROLLER_DEFAULT_SPEED); if(ball->isInFront() && roller->roller_armed) roller->speed(roller->MAX);
else roller->speed(roller->MIN); else roller->speed(roller->MIN);
if(!ball->isInFront()){ if(!ball->isInFront()){
@ -157,6 +159,8 @@ void PrecisionShooter::catchBall(){
if(ball_catch_tilt > 180) ball_catch_tilt += 0.15; if(ball_catch_tilt > 180) ball_catch_tilt += 0.15;
else 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; if(CURRENT_DATA_READ.IMUAngle >= 355 || CURRENT_DATA_READ.IMUAngle <= 5) ball_catch_state = 0;
}else if(ball_catch_state == 2){ }else if(ball_catch_state == 2){
((PositionSysCamera*)ps)->setMoveSetpoints(CURRENT_DATA_READ.xAtkFix, 0); ((PositionSysCamera*)ps)->setMoveSetpoints(CURRENT_DATA_READ.xAtkFix, 0);