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SPQR-Team1-2020
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first test with new code, plays great

code_midgen
EmaMaker 2020-01-13 17:07:26 +01:00
parent 6a0d660aab
commit 8fffdfd83b
7 changed files with 105 additions and 102 deletions
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4
include/game.h
View File

@ -9,9 +9,9 @@ class Game {
Game();
Game(LineSystem* ls, PositionSystem* ps);
void play(bool condition=true);
LineSystem* ls;
PositionSystem* ps;
private:
virtual void realPlay() = 0;
virtual void init() = 0;
LineSystem* ls;
PositionSystem* ps;
};

2
include/keeper.h
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@ -35,6 +35,6 @@ class Keeper : public Game{
int defSpeed, defDir;
float angle, angleX, angleY;
elapsedMillis t, toh, keeperAttackTimer;
elapsedMillis t, keeperAttackTimer;
bool keeper_tookTimer, keeper_backToGoalPost;
};

6
include/linesys_2019.h
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@ -16,6 +16,7 @@
#define LINE_THRESH 90
#define EXTIME 100
#define LINES_EXIT_SPD 350
class LineSys2019 : public LineSystem{
@ -33,7 +34,8 @@ class LineSys2019 : public LineSystem{
vector<DataSource*> in, out;
DataSource* ds;
bool fboundsX, fboundsY, fboundsOX, fboundsOY, slow;
int inV, outV, inVOldX, inVOldY, value, linetriggerI[4], linetriggerO[4], i;
int inV, outV, linesensOldX, linesensOldY, value, linetriggerI[4], linetriggerO[4], i;
elapsedMillis exitTimer;
int outDir, outVel;
byte outDir, outVel, linesens;
unsigned long unlockTime;
};

1
include/systems.h
View File

@ -4,6 +4,7 @@ class LineSystem{
public:
virtual void update() = 0;
virtual void test() = 0;
bool tookLine;
};
class PositionSystem{

7
src/keeper.cpp
View File

@ -1,13 +1,15 @@
#include "keeper.h"
#include "sensors.h"
#include "games.h"
#include "linesys_2019.h"
#include <Arduino.h>
Keeper::Keeper() : Game() {
init();
}
Keeper::Keeper(LineSystem* ls_, PositionSystem* ps_) : Game(ls_, ps_){}
Keeper::Keeper(LineSystem* ls_, PositionSystem* ps_) : Game(ls_, ps_){
}
void Keeper::init(){
defSpeed = 0;
@ -16,7 +18,6 @@ void Keeper::init(){
angleX = 0;
angleY = 0;
t = 0;
toh= 0;
keeperAttackTimer = 0;
keeper_tookTimer = false;
keeper_backToGoalPost = false;
@ -27,7 +28,7 @@ void Keeper::realPlay() {
if(ball->distance > KEEPER_ATTACK_DISTANCE){
// Ball is quite near
goalie->play();
if(!keeper_tookTimer){
if(!this->ls->tookLine){
keeperAttackTimer = 0;
keeper_tookTimer = true;
}

185
src/linesys_2019.cpp
View File

@ -13,8 +13,10 @@ LineSys2019::LineSys2019(vector<DataSource*> in_, vector<DataSource*> out_){
fboundsY = false;
slow = false;
inVOldX = 0;
inVOldY = 0;
linesensOldX = 0;
linesensOldY = 0;
tookLine = false;
for(int i = 0; i < 4; i++){
linetriggerI[i] = 0;
@ -27,6 +29,7 @@ LineSys2019::LineSys2019(vector<DataSource*> in_, vector<DataSource*> out_){
void LineSys2019::update(){
inV = 0;
outV = 0;
for(DataSource* d : in) d->readSensor();
for(DataSource* d : out) d->readSensor();
@ -46,9 +49,9 @@ void LineSys2019::update(){
outV = outV | (linetriggerO[i] << i);
}
inV = inV | outV;
linesens |= inV | outV;
if ((inV > 0) || (outV > 0)) {
if ((linesensOldX > 0) || (linesensOldX > 0)) {
fboundsOX = true;
fboundsOY = true;
if(exitTimer > EXTIME) {
@ -62,109 +65,105 @@ void LineSys2019::update(){
}
void LineSys2019::outOfBounds(){
handleExtern();
handleIntern();
}
void LineSys2019::handleIntern(){
if(fboundsX == true) {
if(inV & 0x02) inVOldX = 2;
else if(inV & 0x08) inVOldX = 8;
if(inVOldX != 0) fboundsX = false;
if(linesens & 0x02) linesensOldX = 2;
else if(linesens & 0x08) linesensOldX = 8;
if(linesensOldX != 0) fboundsX = false;
}
if(fboundsY == true) {
if(inV & 0x01) inVOldY = 1;
else if(inV & 0x04) inVOldY = 4;
if(inVOldY != 0) fboundsY = false;
if(linesens & 0x01) linesensOldY = 1;
else if(linesens & 0x04) linesensOldY = 4;
if(linesensOldY != 0) fboundsY = false;
}
if (exitTimer <= EXTIME){
drive->canUnlock = false;
drive->unlockTime = millis();
//fase di rientro
if(inV == 15) {
inV = inVOldY | inVOldX; //ZOZZATA MAXIMA
//digitalWrite(Y, HIGH);
if(linesens == 15) linesens = linesensOldY | linesensOldX; //ZOZZATA MAXIMA
unlockTime = millis();
if(linesens == 1) outDir = 180;
else if(linesens == 2) outDir = 270;
else if(linesens == 4) outDir = 0;
else if(linesens == 8) outDir = 90;
else if(linesens == 3) outDir = 225;
else if(linesens == 6) outDir = 315;
else if(linesens == 12) outDir = 45;
else if(linesens == 9) outDir = 135;
else if(linesens == 7) outDir = 270;
else if(linesens == 13) outDir = 90;
else if(linesens == 11) outDir = 180;
else if(linesens == 14) outDir = 0;
else if(linesens == 5){
if(linesensOldX == 2) outDir = 270;
else if(linesensOldY == 8) outDir = 90;
}
else if(linesens == 10){
if(linesensOldY == 4) outDir = 0;
else if(linesensOldY == 1) outDir = 180;
}
switch(inV){
case 1:
outDir = 180;
break;
case 2:
outDir = 270;
break;
case 4:
outDir = 0;
break;
case 8:
outDir = 90;
break;
case 3:
outDir = 225;
break;
case 6:
outDir = 315;
break;
case 12:
outDir = 45;
break;
case 9:
outDir = 135;
break;
case 7:
outDir = 270;
break;
case 13:
outDir = 90;
break;
case 11:
outDir = 180;
break;
case 14:
outDir = 0;
break;
case 5:
//digitalWrite(R, HIGH);
if(inVOldX == 2) outDir = 270;
if(inVOldX == 8) outDir = 90;
break;
case 10:
if(inVOldY == 4) outDir = 0;
if(inVOldY == 1)outDir = 180;
break;
case 15:
break;
case 0:
default:
//;)
break;
}
if(exitTimer < 45) outVel = 350;
else outVel = 330;
outVel = LINES_EXIT_SPD;
drive->prepareDrive(outDir, outVel, 0);
tookLine = true;
// keeper_backToGoalPost = true;
// keeper_tookTimer = true;
}else{
inV = 0;
inVOldX = 0;
inVOldY = 0;
// lineSensByteBak = 30;
drive->canUnlock = true;
//fine rientro
if(linesens == 1) drive->vyp = 1;
else if(linesens == 2) drive->vxp = 1;
else if(linesens == 4) drive->vyn = 1;
else if(linesens == 8) drive->vxn = 1;
else if(linesens == 3) {
drive->vyp = 1;
drive->vxp = 1;
}
else if(linesens == 6){
drive->vxp = 1;
drive->vyn = 1;
}
else if(linesens == 12) {
drive->vyn = 1;
drive->vxn = 1;
}
else if(linesens == 9) {
drive->vyp = 1;
drive->vxn = 1;
}
else if(linesens == 7) {
drive->vyp = 1;
drive->vyn = 1;
drive->vxp = 1;
}
else if(linesens == 13){
drive->vxp = 1;
drive->vxn = 1;
drive->vyn = 1;
}
else if(linesens == 11) {
drive->vyp = 1;
drive->vxn = 1;
drive->vxp = 1;
}
else if(linesens == 14) {
drive->vyn = 1;
drive->vxn = 1;
drive->vxp = 1;
}
else if(linesens == 5){
if(linesensOldX == 2) drive->vyp = 1;
else if(linesensOldY == 8)drive->vyn = 1;
}
else if(linesens == 10){
if(linesensOldY == 4) drive->vyn = 1;
else if(linesensOldY == 1) drive->vyp = 1;
}
linesens = 0;
linesensOldY = 0;
linesensOldX = 0;
}
// lineSensByteBak = linesensbyteI;
if(exitTimer == 99) slow = true;
else slow = false;
}
void LineSys2019::handleExtern(){
if((outV & 0b00000001) == 1) drive->vyp = 1; // esclusione
if((outV & 0b00000100) == 4) drive->vyn = 1;
if((outV & 0b00000010) == 2) drive->vxp = 1;
if((outV & 0b00001000) == 8) drive->vxn = 1;
}
void LineSys2019::test(){

2
src/positionsys_zone.cpp
View File

@ -46,7 +46,7 @@ void PositionSysZone::PositionSysZone::test() {
DEBUG.println("------");
for (int i = 0; i < 4; i++) {
DEBUG.print("US: ");
usCtrl->test();
usCtrl->test();
DEBUG.print(" | ");
}
DEBUG.println();