60 lines
1.9 KiB
C
60 lines
1.9 KiB
C
#pragma once
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#include <Arduino.h>
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#include "game.h"
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#include "systems.h"
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/**
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* STATUS VECTOR:
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* The status vector consists in two arrays of two different structs.
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* One (inputs) holds the raw input read by the various sensors on the robot
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* The other (datas) contains the useful data obtained by the eventual manipulation of the raw inputs
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* This is made so that it ha an history of the inputs and datas if needed.
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* This is an intermediator between all the classes representing the different components of the robot. It's preferable to not make the classes call one another
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* All the data held by the structs in the status vector will be described here.
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*
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* REMEMBER: The value of a sensor in the status vector MUST be updated also if the sensor data didn't change
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*
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**/
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#ifdef STATUS_VECTOR_CPP
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#define sv_extr
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#else
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#define sv_extr extern
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#endif
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#define dim 20
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#define CURRENT_DATA_READ ( datas[((currentSVIndex-1+dim) % dim)] )
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#define CURRENT_DATA_WRITE ( datas[((currentSVIndex))] )
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#define CURRENT_INPUT_READ ( inputs[((currentSVIndex-1+dim) % dim)] )
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#define CURRENT_INPUT_WRITE ( inputs[((currentSVIndex))] )
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typedef struct input{
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int IMUAngle, USfr, USsx, USdx, USrr, BT;
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byte ballByte, cameraByte, lineByte, xb, yb, xy, yy;
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bool SW_DX, SW_SX;
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}input;
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typedef struct data{
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int IMUAngle, ballAngle, ballDistance,
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yAngle, bAngle, yAngleFix, bAngleFix,
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yDist, bDist,
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angleAtk, angleAtkFix, angleDef, angleDefFix,
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speed, tilt, dir, axisBlock[4],
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USfr, USsx, USdx, USrr,
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lineOutDir, matePos, role;
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Game* game;
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LineSystem* lineSystem;
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PositionSystem* posSystem;
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byte xb, yb, xy, yy, lineSeen, lineActive;
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bool mate,
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ATKgoal, DEFgoal,
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atkSeen, defSeen, bSeen, ySeen,
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ballSeen;
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}data;
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sv_extr input inputs[dim];
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sv_extr data datas[dim];
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sv_extr int currentSVIndex;
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void initStatusVector();
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void updateStatusVector(); |