EmaMaker
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SPQR-Team1-2020
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going straight...slowly

code_midgen
u-siri-ous 2019-12-02 16:59:20 +01:00
parent c346312bc9
commit e1b50fcf03
2 changed files with 13 additions and 9 deletions
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14
src/game.cpp
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@ -5,16 +5,18 @@ Game::Game(){
} }
void Game::goalie(){ void Game::goalie(){
compass->readSensor();
digitalWrite(LED_G, HIGH); digitalWrite(LED_G, HIGH);
//if(ball->ballSeen){ if(ball->ballSeen){
//if(ball->angle >= 0) { if(ball->angle >= 0) {
drive->prepareDrive(0, 150, 0); drive->prepareDrive(0, 50, 0);
drive->drive(0, 150, 0); drive->drive(0, 50, 0);
//} }
//} else drive->prepareDrive(0, 0, 0); } else drive->prepareDrive(0, 0, 0);
} }
void Game::keeper(){ void Game::keeper(){
compass->readSensor();
digitalWrite(LED_Y, HIGH); digitalWrite(LED_Y, HIGH);
} }

8
src/main.cpp
View File

@ -12,13 +12,15 @@ void setup() {
} }
void loop() { void loop() {
updateSensors(); //updateSensors();
/*if(millis() % 100 == 0) /*if(millis() % 100 == 0)
DEBUG_PRINT.println(us->getValue());*/ DEBUG_PRINT.println(us->getValue());*/
if(game->role) game->goalie(); /* if(game->role) game->goalie();
else game->keeper(); else game->keeper(); */
game->goalie();
game->role = digitalRead(SWITCH_DX); game->role = digitalRead(SWITCH_DX);
game->attackGoal = digitalRead(SWITCH_SX); game->attackGoal = digitalRead(SWITCH_SX);
//compass->test();
//usCtrl->test(); //usCtrl->test();
delay(200); delay(200);
} }