33 lines
712 B
C++
33 lines
712 B
C++
#pragma once
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#include "behaviour_control/complementary_filter.h"
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#include "motors_movement/drivecontroller.h"
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#include "sensors/sensors.h"
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#include "strategy_roles/game.h"
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#define STRIKER_ATTACK_DISTANCE 110
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#define STRIKER_TILT_STOP_DISTANCE 140
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#define STRIKER_PLUSANG 35
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#define STRIKER_PLUSANG_VISIONCONE 7
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#define STRIKER_VEL MAX_VEL
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class Striker : public Game
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{
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public:
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Striker();
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Striker(LineSystem *ls, PositionSystem *ps);
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private:
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void realPlay() override;
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void init() override;
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void striker();
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int tilt();
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float ballTilt();
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int atk_speed, atk_direction = 0, atk_tilt, stato = 0, plusang_flag = 0;
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bool flag = false;
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ComplementaryFilter *ball_filter;
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};
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