ported goalie and keeper from old code, condtion code working to decide game strategy

include/drivecontroller.h

@@ -15,8 +15,8 @@ class DriveController{
 
         DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_);
         
-        void drive(int dir, int speed, int tilt);
+        void drive(int dir=0, int speed=0, int tilt=0);
-        void prepareDrive(int dir, int speed, int tilt);
+        void prepareDrive(int dir=0, int speed=0, int tilt=0);
         void drivePrepared();
         float updatePid();
         float torad(float f);

include/game.h

@@ -1,21 +1,12 @@
 #pragma once
 
-#include "data_source.h"
-#include "data_source_ball.h"
-#include "motor.h"
-#include "drivecontroller.h"
-#include "sensors.h"
 #include "vars.h"
-#include "data_source_bno055.h"
+#include "sensors.h"
-#include "goalie.h"
-#include "keeper.h"
 
-class Game{
+class Game {
     public:
         Game();
-        //void keeper();
+        void play(bool condition=true);
-        //void goalie();
+    private:
-        //void ballBack();
+        virtual void realPlay() = 0;
-        bool role, attackGoal; //1->goalie 0->keeper, 1->yellow 0->blue
-        //~Game();
 };

include/games.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#ifdef GAMES_CPP
+#define g_extr 
+#else
+#define g_extr extern
+#endif
+
+#include <Arduino.h>
+#include "game.h"
+#include "goalie.h"
+#include "keeper.h"
+
+void initGames();
+
+g_extr Game* goalie;
+g_extr Game* keeper;

include/goalie.h

@@ -1,8 +1,10 @@
 #pragma once
 
 #include "game.h"
+#include "sensors.h"
+#include "data_source_camera.h"
 
-/* #define GOALIE_ATKSPD_LAT  255
+#define GOALIE_ATKSPD_LAT  255
 #define GOALIE_ATKSPD_BAK  350
 #define GOALIE_ATKSPD_FRT  345
 #define GOALIE_ATKSPD_STRK 355
@@ -12,14 +14,18 @@
 #define GOALIE_ATKDIR_PLUSANGBAK 40
 #define GOALIE_ATKDIR_PLUSANG1_COR 60
 #define GOALIE_ATKDIR_PLUSANG2_COR 70
-#define GOALIE_ATKDIR_PLUSANG3_COR 70 */
+#define GOALIE_ATKDIR_PLUSANG3_COR 70
 
-class Goalie{
+class Goalie : public Game{
 
     public:
         Goalie();
+
+        void realPlay() override;
         void goalie();
         void ballBack(); 
-        //void rigore(); to be implemented
+        void storcimentoPorta();
-         int atk_direction, atk_speed;
+
+        int atk_speed, atk_direction;
+        float cstorc;
 };

include/keeper.h

@@ -2,10 +2,26 @@
 
 #include "game.h"
 
-class Keeper{
+//KEEPER
+#define KEEPER_ATTACK_DISTANCE 200
+#define KEEPER_ALONE_ATTACK_TIME 5000 //in millis
+#define KEEPER_COMRADE_ATTACK_TIME 3000//in millis
+#define KEEPER_BASE_VEL 320
+#define KEEPER_VEL_MULT 1.4
+#define KEEPER_BALL_BACK_ANGLE 30
+
+
+class Keeper : public Game{
 
     public:
         Keeper();
+    private:
+        void realPlay() override;
         void keeper();
-        //void keeperGoalie(); to be implemented
+
-};
+        int defSpeed, defDir;
+
+        float angle, angleX, angleY;
+        elapsedMillis t, toh, keeperAttackTimer;
+        bool keeper_tookTimer, keeper_backToGoalPost;
+};

include/sensors.h

@@ -1,5 +1,13 @@
-#include <Arduino.h>
 #pragma once
+
+
+#ifdef SENSORS_CPP
+#define s_extr 
+#else
+#define s_extr extern
+#endif
+
+#include <Arduino.h>
 #include "data_source_bno055.h"
 #include "data_source_ball.h"
 #include "data_source_camera.h"
@@ -8,31 +16,20 @@
 #include "motor.h"
 #include "ds_ctrl.h"
 #include "drivecontroller.h"
-#include "game.h"
-#ifdef SENSORS_CPP
-#define extr 
-#else
-#define extr extern
-#endif
 
-class Game;
-class Goalie;
-class Keeper;
 void initSensors();
 void updateSensors();
 
-extr vector<DataSource*> lIn;
+s_extr vector<DataSource*> lIn;
-extr vector<DataSource*> lOut;
+s_extr vector<DataSource*> lOut;
-extr vector<DataSource*> dUs;
+s_extr vector<DataSource*> dUs;
 
-extr DataSourceCtrl* usCtrl;
+s_extr DataSourceCtrl* usCtrl;
-extr DataSourceCtrlLines* linesCtrl;
+s_extr DataSourceCtrlLines* linesCtrl;
 
-extr DataSourceBNO055* compass;
+s_extr DataSourceBNO055* compass;
-extr DataSourceBall* ball;
+s_extr DataSourceBall* ball;
-extr DataSourceCamera* camera;
+s_extr DataSourceCamera* camera;
-extr DriveController* drive;
+s_extr DriveController* drive;
 
-extr Game* game;
+s_extr int role;
-extr Goalie* goalie;
-extr Keeper* keeper;