From aaa883b250841d434f04878e05145b3a6a2c3f53 Mon Sep 17 00:00:00 2001
From: EmaMaker <emamaker0@gmail.com>
Date: Sun, 31 Jan 2021 18:42:32 +0100
Subject: [PATCH] roles: go back to normal striker

---
 include/strategy_roles/striker.h    | 8 ++++----
 src/main.cpp                        | 9 +++++----
 src/strategy_roles/games.cpp        | 2 +-
 src/strategy_roles/striker_test.cpp | 2 +-
 4 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/include/strategy_roles/striker.h b/include/strategy_roles/striker.h
index 44e0574..3010475 100644
--- a/include/strategy_roles/striker.h
+++ b/include/strategy_roles/striker.h
@@ -7,10 +7,10 @@
 #define TILT_MULT 1.8
 #define TILT_DIST 170
 #define CATCH_DIST 150
-#define GOALIE_ATKSPD_LAT  320 //255
-#define GOALIE_ATKSPD_BAK  350
-#define GOALIE_ATKSPD_FRT  345
-#define GOALIE_ATKSPD_STRK 355
+#define GOALIE_ATKSPD_LAT  150 //255
+#define GOALIE_ATKSPD_BAK  150
+#define GOALIE_ATKSPD_FRT  150
+#define GOALIE_ATKSPD_STRK 150
 #define GOALIE_ATKDIR_PLUSANG1 20
 #define GOALIE_ATKDIR_PLUSANG2 35
 #define GOALIE_ATKDIR_PLUSANG3 40
diff --git a/src/main.cpp b/src/main.cpp
index e830d9d..e326670 100755
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -27,6 +27,9 @@ void setup() {
   delay(500);
 
   drive->prepareDrive(0,0,0);
+
+  //Startup sound
+  tone(BUZZER, 220.00, 250);
 }
 
 
@@ -34,12 +37,10 @@ void loop() {
   updateSensors();
   if(DEBUG.available()) testmenu->testMenu();
   
-  striker_test->play(1);
-  // striker->play(role==1);
+  // striker_test->play(1);
+  striker->play(1);
   // keeper->play(role==0);
 
-  // drive->prepareDrive(0,0,0);
-
   // Last thing to do: movement and update status vector
   drive->drivePrepared();  
   updateStatusVector();
diff --git a/src/strategy_roles/games.cpp b/src/strategy_roles/games.cpp
index 5485fe8..77e9cb4 100644
--- a/src/strategy_roles/games.cpp
+++ b/src/strategy_roles/games.cpp
@@ -11,7 +11,7 @@ void initGames(){
     vector<DataSource*> lIn = { new DataSource(S1I, true), new DataSource(S2I, true), new DataSource(S3I, true), new DataSource(S4I, true) };
     vector<DataSource*> lOut = { new DataSource(S1O, true), new DataSource(S2O, true), new DataSource(S3O, true), new DataSource(S4O, true) };
 
-    striker_test = new StrikerTest(new LineSystemEmpty(), new PositionSystemEmpty());
+    // striker_test = new StrikerTest(new LineSysCamera(lIn, lOut), new PositionSysCamera());
     striker = new Striker(new LineSysCamera(lIn, lOut), new PositionSysCamera());
     keeper = new Keeper(new LineSysCamera(lOut, lOut), new PositionSysCamera());
 }
\ No newline at end of file
diff --git a/src/strategy_roles/striker_test.cpp b/src/strategy_roles/striker_test.cpp
index 918cccf..912a0c9 100644
--- a/src/strategy_roles/striker_test.cpp
+++ b/src/strategy_roles/striker_test.cpp
@@ -20,7 +20,7 @@ void StrikerTest::init(){
 
 void StrikerTest::realPlay(){
   if(CURRENT_DATA_READ.ballSeen) striker();
-  else drive->prepareDrive(0,0,0);
+  else ps->goCenter();
 }
 
 void StrikerTest::striker() {