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goalie: use status vector's CURRENT_DATA_READ to get sensors data 

So this is in sync with the rest of the data being used in the cycle. This runs a loop cycle behind reality, but we don't care on such a fast machine
Also use atk_speed instead of hardcoding it to 100
code_midgen
ema.coletta@gmail.com 2020-10-29 22:39:39 +01:00
parent 304610e2e2
commit bc040bd084
1 changed files with 24 additions and 24 deletions
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48
src/strategy_roles/goalie.cpp
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@ -22,53 +22,53 @@ void Goalie::init(){
}
void Goalie::realPlay(){
if(ball->ballSeen) this->goalie();
if(CURRENT_DATA_READ.ballSeen) this->goalie();
else ((PositionSysCamera*)ps)->goCenter();
}
void Goalie::goalie() {
if(ball->angle>= 350 || ball->angle<= 20) {
if(ball->distance > 190) atk_direction = 0;
else atk_direction = ball->angle;
if(CURRENT_DATA_READ.ballAngle>= 350 || CURRENT_DATA_READ.ballAngle<= 20) {
if(CURRENT_DATA_READ.ballDistance > 190) atk_direction = 0;
else atk_direction = CURRENT_DATA_READ.ballAngle;
atk_speed = GOALIE_ATKSPD_FRT;
}
if(ball->angle>= 90 && ball->angle<= 270) {
if(CURRENT_DATA_READ.ballAngle>= 90 && CURRENT_DATA_READ.ballAngle<= 270) {
ballBack();
atk_speed = GOALIE_ATKSPD_BAK;
}
if(ball->angle> 10 && ball->angle< 30) {
atk_direction = ball->angle+ GOALIE_ATKDIR_PLUSANG1;
if(CURRENT_DATA_READ.ballAngle> 10 && CURRENT_DATA_READ.ballAngle< 30) {
atk_direction = CURRENT_DATA_READ.ballAngle+ GOALIE_ATKDIR_PLUSANG1;
atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle>= 30 && ball->angle< 45) {
atk_direction = ball->angle+ GOALIE_ATKDIR_PLUSANG2;
if(CURRENT_DATA_READ.ballAngle>= 30 && CURRENT_DATA_READ.ballAngle< 45) {
atk_direction = CURRENT_DATA_READ.ballAngle+ GOALIE_ATKDIR_PLUSANG2;
atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle>= 45 && ball->angle< 90) {
atk_direction = ball->angle+ GOALIE_ATKDIR_PLUSANG3;
if(CURRENT_DATA_READ.ballAngle>= 45 && CURRENT_DATA_READ.ballAngle< 90) {
atk_direction = CURRENT_DATA_READ.ballAngle+ GOALIE_ATKDIR_PLUSANG3;
atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle> 270 && ball->angle<= 315) {
atk_direction = ball->angle- GOALIE_ATKDIR_PLUSANG3_COR;
if(CURRENT_DATA_READ.ballAngle> 270 && CURRENT_DATA_READ.ballAngle<= 315) {
atk_direction = CURRENT_DATA_READ.ballAngle- GOALIE_ATKDIR_PLUSANG3_COR;
atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle> 315 && ball->angle<= 330) {
atk_direction = ball->angle- GOALIE_ATKDIR_PLUSANG2_COR;
if(CURRENT_DATA_READ.ballAngle> 315 && CURRENT_DATA_READ.ballAngle<= 330) {
atk_direction = CURRENT_DATA_READ.ballAngle- GOALIE_ATKDIR_PLUSANG2_COR;
atk_speed = GOALIE_ATKSPD_LAT;
}
if(ball->angle> 330 && ball->angle< 350) {
atk_direction = ball->angle- GOALIE_ATKDIR_PLUSANG1_COR;
if(CURRENT_DATA_READ.ballAngle> 330 && CURRENT_DATA_READ.ballAngle< 350) {
atk_direction = CURRENT_DATA_READ.ballAngle- GOALIE_ATKDIR_PLUSANG1_COR;
atk_speed = GOALIE_ATKSPD_LAT;
}
// if((ball->angle>= 330 || ball->angle<= 30) && ball->distance > 190) { //storcimento
// if((CURRENT_DATA_READ.ballAngle>= 330 || CURRENT_DATA_READ.ballAngle<= 30) && CURRENT_DATA_READ.ballDistance > 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);
drive->prepareDrive(atk_direction, atk_speed);
}
@ -78,13 +78,13 @@ void Goalie::ballBack() {
int dir;
int plusang;
if(ball->distance > 130) plusang = GOALIE_ATKDIR_PLUSANGBAK;
if(CURRENT_DATA_READ.ballDistance > 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(CURRENT_DATA_READ.ballAngle> 180) ball_degrees2 = CURRENT_DATA_READ.ballAngle- 360;
else ball_degrees2 = CURRENT_DATA_READ.ballAngle;
if(ball_degrees2 > 0) dir = CURRENT_DATA_READ.ballAngle+ plusang; //45 con 8 ruote
else dir = CURRENT_DATA_READ.ballAngle- plusang; //45 con 8 ruote
if(dir < 0) dir = dir + 360;
else dir = dir;
atk_direction = dir;