39 lines
974 B
C++
39 lines
974 B
C++
#pragma once
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#include "sensors/data_source_camera_vshapedmirror.h"
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#include "behaviour_control/complementary_filter.h"
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#include "sensors/sensors.h"
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#include "strategy_roles/game.h"
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#define PS_ATTACK_DISTANCE 110
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#define PS_TILT_STOP_DISTANCE 140
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#define PS_PLUSANG 55
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#define PS_PLUSANG_VISIONCONE 10
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// There needs to be a little bit of space between the target point and the spot to be in
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#define PS_SPINNER_OVERHEAD 7
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#define KICK_LIMIT_TILT1 200
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#define KICK_LIMIT_MAX 315
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#define KICK_LIMIT_MIN 45
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class PrecisionShooter : public Game{
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public:
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PrecisionShooter();
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PrecisionShooter(LineSystem* ls, PositionSystem* ps);
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private:
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void realPlay() override;
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void init() override;
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void catchBall();
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void spinner(int);
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int tilt();
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private:
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int atk_speed, atk_direction, atk_tilt;
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float cstorc;
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bool gotta_tilt;
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ComplementaryFilter* ballAngleFilter;
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};
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