From c6856fdbcec3620ede8616fb082627e9eed207d9 Mon Sep 17 00:00:00 2001
From: EmaMaker <emamaker0@gmail.com>
Date: Thu, 5 Dec 2019 14:29:16 +0100
Subject: [PATCH] fixed something left by u-siri-ous

---
 src/goalie.cpp |  2 +-
 src/main.cpp   | 87 +++-----------------------------------------------
 2 files changed, 5 insertions(+), 84 deletions(-)

diff --git a/src/goalie.cpp b/src/goalie.cpp
index 81dee90..2417f5f 100644
--- a/src/goalie.cpp
+++ b/src/goalie.cpp
@@ -5,7 +5,7 @@ Goalie::Goalie(){ }
 void Goalie::goalie(){
     digitalWrite(LED_G, HIGH);
     if(ball->ballSeen){
-        if(ball->angle >= 0 && ball->angle < 45) drive->drive(0, 75, 0);
+        if(ball->angle >= 0 && ball->angle < 45) drive->prepareDrive(0, 75, 0);
         /* else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(ball->angle, 75, 0);
         else if(ball->angle > 60 && ball->angle < 90) drive->drive(ball->angle, 75, 0);
         else if(ball->angle >= 90 && ball->angle < 135) drive->drive(ball->angle, 75, 0);  */
diff --git a/src/main.cpp b/src/main.cpp
index 4e9e63f..180c412 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -13,89 +13,10 @@ void setup() {
 
 void loop() {
   updateSensors();
- /*  Trial trial;
-  trial.trial(); */
-  //drive->prepareDrive(0,0,0);
-  linesCtrl->update();
+  
   goalie->goalie();
-  //drive->drivePrepared();
+  linesCtrl->update();
 
+  // Last thing to do: movement  
+  drive->drivePrepared();
 } 
-
-
-/*old function trial
- class Trial{
-  public:
-  void trial(){
-    digitalWrite(LED_Y, LOW);
-  if(ball->angle >= 350 || ball->angle <= 10)  {
-    if(ball->distance > 190) goalie->atk_direction = 0;
-    else goalie->atk_direction = ball->angle;
-    goalie->atk_speed = GOALIE_ATKSPD_FRT;
-  }
-
-  if(ball->angle >= 90 && ball->angle <= 270) {
-    goalie->ballBack();
-    goalie->atk_speed = GOALIE_ATKSPD_BAK;                   
-  }
-  if(digitalRead(SWITCH_DX) == 1) {
-    if(ball->angle > 10   && ball->angle <  30)   {
-      goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG1;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle >= 30 && ball->angle <  45)    {
-      goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG2;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle >= 45 && ball->angle <  90)    {
-      goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG3;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle > 270 && ball->angle <= 315)   {
-      goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG3_COR;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle > 315 && ball->angle <= 330)   {
-      goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG2_COR;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle > 330 && ball->angle <  350)   {
-      goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG1_COR;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-  } else {
-    if(ball->angle > 10   && ball->angle <  30)   {
-      goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG1_COR;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle >= 30 && ball->angle <  45)    {
-      goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG2_COR;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle >= 45 && ball->angle <  90)    {
-      goalie->atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG3_COR;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle > 270 && ball->angle <= 315)   {
-      goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG3;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle > 315 && ball->angle <= 330)   {
-      goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG2;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-    if(ball->angle > 330 && ball->angle <  350)   {
-      goalie->atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG1;
-      goalie->atk_speed = GOALIE_ATKSPD_LAT;
-    }
-  }
-
-  if((ball->angle >= 330 || ball->angle <= 30) && ball->distance > 190) {      //storcimento
-    goalie->atk_speed = GOALIE_ATKSPD_STRK;                                             //dove i gigahertz hanno fallito
-    drive->prepareDrive(goalie->atk_direction, goalie->atk_speed, 0);
-  }
-  else drive->prepareDrive(goalie->atk_direction, goalie->atk_speed, 0);
-}
-
-}; */
-