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SPQR-Team1-2020
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sbubabub

code_midgen
u-siri-ous 2019-12-05 12:55:56 +01:00
parent 4e3bf45bcb 049b0c1830
commit 5a0701f09e
4 changed files with 17 additions and 7 deletions
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4
src/drivecontroller.cpp
View File

@ -28,6 +28,10 @@ DriveController::DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_)
errorP = 0; errorP = 0;
errorI = 0; errorI = 0;
errorD = 0; errorD = 0;
errorePre = 0;
pidfactor = 0;
integral = 0;
} }
void DriveController::prepareDrive(int dir, int speed, int tilt){ void DriveController::prepareDrive(int dir, int speed, int tilt){

10
src/ds_ctrl_lines.cpp
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@ -50,7 +50,7 @@ void DataSourceCtrlLines::read(){
} }
void DataSourceCtrlLines::postProcess(){ void DataSourceCtrlLines::postProcess(){
if ((inV > 0) || (outV > 0)) { if ((inV > 0) || (outV > 0)) {
fboundsOX = true; fboundsOX = true;
fboundsOY = true; fboundsOY = true;
if(exitTimer > EXTIME) { if(exitTimer > EXTIME) {
@ -64,7 +64,7 @@ void DataSourceCtrlLines::postProcess(){
} }
void DataSourceCtrlLines::outOfBounds(){ void DataSourceCtrlLines::outOfBounds(){
//handleExtern(); handleExtern();
handleIntern(); handleIntern();
} }
@ -144,8 +144,8 @@ void DataSourceCtrlLines::handleIntern(){
break; break;
} }
if(exitTimer < 45) outVel = 200; if(exitTimer < 45) outVel = 350;
else outVel = 150; else outVel = 330;
drive->prepareDrive(outDir, outVel, 0); drive->prepareDrive(outDir, outVel, 0);
// keeper_backToGoalPost = true; // keeper_backToGoalPost = true;
// keeper_tookTimer = true; // keeper_tookTimer = true;
@ -154,7 +154,7 @@ void DataSourceCtrlLines::handleIntern(){
inVOldX = 0; inVOldX = 0;
inVOldY = 0; inVOldY = 0;
// lineSensByteBak = 30; // lineSensByteBak = 30;
//drive->canUnlock = true; drive->canUnlock = true;
} }
// lineSensByteBak = linesensbyteI; // lineSensByteBak = linesensbyteI;

4
src/goalie.cpp
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@ -73,7 +73,9 @@
drive->prepareDrive(atk_direction, atk_speed, 0); drive->prepareDrive(atk_direction, atk_speed, 0);
} }
else drive->prepareDrive(atk_direction, atk_speed, 0); else drive->prepareDrive(atk_direction, atk_speed, 0);
/* digitalWrite(LED_G, HIGH);
/* siria digitalWrite(LED_G, HIGH);
if(ball->ballSeen){ if(ball->ballSeen){
if(ball->angle >= 0 && ball->angle < 45) drive->drive(ball->angle, 75, 0); if(ball->angle >= 0 && ball->angle < 45) drive->drive(ball->angle, 75, 0);
else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(ball->angle, 75, 0); else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(ball->angle, 75, 0);

4
src/main.cpp
View File

@ -87,6 +87,7 @@ void setup() {
delay(2000); delay(2000);
} }
void loop() { void loop() {
updateSensors(); updateSensors();
Trial trial; Trial trial;
@ -94,6 +95,9 @@ void loop() {
//drive->prepareDrive(0,0,0); //drive->prepareDrive(0,0,0);
//linesCtrl->update(); //linesCtrl->update();
//drive->prepareDrive(0,0,0);
linesCtrl->update();
drive->drivePrepared(); drive->drivePrepared();
} }