From 304610e2e22b6aae70fa98f6021d50aa4fac9327 Mon Sep 17 00:00:00 2001
From: "ema.coletta@gmail.com" <emamaker0@gmail.com>
Date: Thu, 29 Oct 2020 17:20:36 +0100
Subject: [PATCH] recycle striker strategy from last year code

bad translation, goalie is actually a striker
---
 include/strategy_roles/goalie.h |  4 +-
 src/strategy_roles/goalie.cpp   | 88 +++++++++++++++++++++++----------
 2 files changed, 65 insertions(+), 27 deletions(-)

diff --git a/include/strategy_roles/goalie.h b/include/strategy_roles/goalie.h
index e75f3fd..aee10d5 100644
--- a/include/strategy_roles/goalie.h
+++ b/include/strategy_roles/goalie.h
@@ -7,7 +7,7 @@
 #define TILT_MULT 1.8
 #define TILT_DIST 180
 #define CATCH_DIST 150
-#define GOALIE_ATKSPD_LAT  255
+#define GOALIE_ATKSPD_LAT  320 //255
 #define GOALIE_ATKSPD_BAK  350
 #define GOALIE_ATKSPD_FRT  345
 #define GOALIE_ATKSPD_STRK 355
@@ -28,7 +28,7 @@ class Goalie : public Game, public PositionSysZone{
     private:
         void realPlay() override;
         void init() override;
-        void goalie(int);
+        void goalie();
         void ballBack(); 
         void storcimentoPorta();
 
diff --git a/src/strategy_roles/goalie.cpp b/src/strategy_roles/goalie.cpp
index cbcc3d7..a62c24f 100644
--- a/src/strategy_roles/goalie.cpp
+++ b/src/strategy_roles/goalie.cpp
@@ -22,37 +22,75 @@ void Goalie::init(){
 }
 
 void Goalie::realPlay(){
-  if(ball->ballSeen) this->goalie(50);
+  if(ball->ballSeen) this->goalie();
   else ((PositionSysCamera*)ps)->goCenter();
 }
 
-int dir, degrees2;
-void Goalie::goalie(int plusang) {
-  if(ball->distance < CATCH_DIST) drive->prepareDrive(ball->angle, 350, 0);
-  else{
-/*     if(ball->angle > 345 || ball->angle < 15) plusang *= 0.15;
-    FRONT */
-    if (ball->angle > 345 && ball->angle < 15) plusang *= 0.15;
-    if(ball->angle > 180) degrees2 = ball->angle - 360;
-    else degrees2 = ball->angle;
-
-    if(degrees2 > 0) dir = ball->angle + plusang;              //45 con 8 ruote
-    else dir = ball->angle - plusang;                          //45 con 8 ruote
-
-    if(dir < 0) dir = dir + 360;
-    else dir = dir;
-
-    storcimentoPorta();
-    if(ball->distance > TILT_DIST && (ball->angle > 340 || ball->angle < 20)){
-      plusang -= 20;
-      drive->prepareDrive(dir, 350, cstorc);
-    } else {
-      drive->prepareDrive(dir, 350, 0);
-      cstorc = 0;
-    }
+void Goalie::goalie() {
+  if(ball->angle>= 350 || ball->angle<= 20)  {
+    if(ball->distance > 190) atk_direction = 0;
+    else atk_direction = ball->angle;
+    atk_speed = GOALIE_ATKSPD_FRT;
   }
+
+  if(ball->angle>= 90 && ball->angle<= 270) {
+    ballBack();
+    atk_speed = GOALIE_ATKSPD_BAK;                   
+  }
+
+    if(ball->angle> 10   && ball->angle<  30)   {
+      atk_direction = ball->angle+ GOALIE_ATKDIR_PLUSANG1;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle>= 30 && ball->angle<  45)    {
+      atk_direction = ball->angle+ GOALIE_ATKDIR_PLUSANG2;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle>= 45 && ball->angle<  90)    {
+      atk_direction = ball->angle+ GOALIE_ATKDIR_PLUSANG3;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle> 270 && ball->angle<= 315)   {
+      atk_direction = ball->angle- GOALIE_ATKDIR_PLUSANG3_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle> 315 && ball->angle<= 330)   {
+      atk_direction = ball->angle- GOALIE_ATKDIR_PLUSANG2_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle> 330 && ball->angle<  350)   {
+      atk_direction = ball->angle- GOALIE_ATKDIR_PLUSANG1_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+
+  // if((ball->angle>= 330 || ball->angle<= 30) && ball->distance > 190) {      //storcimento
+  //   atk_speed = GOALIE_ATKSPD_STRK;                                          //dove i gigahertz hanno fallito
+  //   drive->prepareDrive(atk_direction, atk_speed, cstorc);
+  // }
+  // else  
+  drive->prepareDrive(atk_direction, 100);
 }
 
+
+
+void Goalie::ballBack() {
+  int ball_degrees2;
+  int dir;
+
+  int plusang;
+  if(ball->distance > 130) plusang = GOALIE_ATKDIR_PLUSANGBAK;
+  else plusang = 0;
+  
+  if(ball->angle> 180) ball_degrees2 = ball->angle- 360;
+  else ball_degrees2 = ball->angle;
+  if(ball_degrees2 > 0) dir = ball->angle+ plusang;              //45 con 8 ruote
+  else dir = ball->angle- plusang;                                 //45 con 8 ruote
+  if(dir < 0) dir = dir + 360;
+  else dir = dir;
+  atk_direction = dir;
+}
+
+
 void Goalie::storcimentoPorta() {
   if (CURRENT_DATA_READ.angleAtkFix >= 5 && CURRENT_DATA_READ.angleAtkFix <= 60) cstorc+=9;
   else if (CURRENT_DATA_READ.angleAtkFix  <= 355 && CURRENT_DATA_READ.angleAtkFix >= 210) cstorc-=9;