Diff: main_processing/strategy/strategy.cpp

Revision:

21:378470320524

Parent:

20:d69ce8f47f1d

Child:

23:df68f1a2c226

--- a/main_processing/strategy/strategy.cpp	Wed Mar 16 07:55:15 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Wed Mar 16 11:27:58 2016 +0000
@@ -399,7 +399,7 @@
         sys.PingBlind=0;
         
         sys.HomeBlind=1;
-        sys.DriBlind=0;
+        sys.DriBlind=1;
         
         
         sys.ir_pow_table = 0;
@@ -423,16 +423,11 @@
         sys.KickOffFlag=0;
     }
     //data
-    /*if(sys.IrFlag==1){ReadIr();sys.IrFlag=0;}
-    if(sys.PidFlag==1){PidUpdate();sys.PidFlag=0;}
-    if(sys.UswFlag==1){ReadPing();sys.UswFlag=0;}
-    if(sys.UswFlag2==1){ReadPing2();sys.UswFlag2=0;}*/
     if(sys.InfoFlag==1){ReadInfo();sys.InfoFlag=0;}
     
-    //if(sys.KickFlag==1){DriveSolenoid();}
     data.lnRaw = LineRaw;
     data.lnHold = LineHold;
-    data.ball = (BallCheckerA.read_u16()<20000);
+    data.ball = ReadBall();
     
     /*
     if(sys.DriBlind==0){
@@ -511,10 +506,11 @@
     else{//data.irNotice==IR_NONE
         ir_pow = 0;
     }
-    
-    if((sys.DriBlind==0)&&(data.irNotice==IR_CLOSER)&&((data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12))){
+    if((sys.DriBlind==0)&&(data.irNotice==IR_CLOSER)&&(data.irValPhase[IR_SHORT]==DIS_0)&&((data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12))){
         sys.DribbleFlag=1;
-        ir_pow=20;
+        //if(sys.BallHoldFlag==0){
+            ir_pow=20;
+        //}
         /*if(cmps_set.AtkDeg==0){
             if(data.irPosition==10) cmps_set.AtkDeg=30;
             if(data.irPosition==11) cmps_set.AtkDeg=0;
@@ -588,7 +584,7 @@
     
     //LED = 0xFF*sys.BallHoldFlag;
     
-    LED = 0xFF*(data.ping[B_PING]<30);
+    //LED = 0xFF*(data.ping[B_PING]<30);
     
     //LED = ((data.lnOrder[0]!=LINE_EMPTY)<<2) | ((data.lnOrder[1]!=LINE_EMPTY)<<1) | ((data.lnOrder[2]!=LINE_EMPTY)<<0);
     
@@ -611,14 +607,14 @@
     return;
 }
 void modeAttack5(void){
-    if(sys.IrFlag==1){
+    /*if(sys.IrFlag==1){
         ReadIr();
         sys.IrFlag=0;
     }
     if(sys.PidFlag==1){
         PidUpdate();
         sys.PidFlag=0;
-    }
+    }*/
     move(0,0,cmps_set.OutputPID);
     if(sys.MotorFlag==1){
         //LED[0] = 1;