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fixed something left by u-siri-ous

code_midgen
EmaMaker 2019-12-05 14:29:16 +01:00
parent 23794ebc2d
commit c6856fdbce
2 changed files with 5 additions and 84 deletions
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2
src/goalie.cpp
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@ -5,7 +5,7 @@ Goalie::Goalie(){ }
void Goalie::goalie(){ void Goalie::goalie(){
digitalWrite(LED_G, HIGH); digitalWrite(LED_G, HIGH);
if(ball->ballSeen){ 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 >= 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 > 60 && ball->angle < 90) drive->drive(ball->angle, 75, 0);
else if(ball->angle >= 90 && ball->angle < 135) drive->drive(ball->angle, 75, 0); */ else if(ball->angle >= 90 && ball->angle < 135) drive->drive(ball->angle, 75, 0); */

87
src/main.cpp
View File

@ -13,89 +13,10 @@ void setup() {
void loop() { void loop() {
updateSensors(); updateSensors();
/* Trial trial;
trial.trial(); */
//drive->prepareDrive(0,0,0);
linesCtrl->update();
goalie->goalie(); 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);
}
}; */