CatPot 2015-2016
/
CatPot_2v10_T_Main
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Dependencies: mbed AQM1602 HMC6352 PID
Diff: main_processing/strategy/strategy.cpp
- Revision:
- 17:cc862ecf9812
- Parent:
- 16:4fadb7a87497
- Child:
- 18:3a42a931c95a
--- a/main_processing/strategy/strategy.cpp Mon Mar 14 07:51:37 2016 +0000
+++ b/main_processing/strategy/strategy.cpp Mon Mar 14 08:56:04 2016 +0000
@@ -748,34 +748,6 @@
else if(LineSum==0){
LineState = 0;
}
- /*if(data.lnHold==7){
- if(data.lnRaw>0){
- //場外間際...減衰
- LineState = 3;
- }
- else{//data.lnRaw==0
- //場外...出力完全無効+反発
- //powerVoid & restore
- LineState = 4;
- }
- }
- else if(data.lnHold>0){
- if(data.lnRaw>0){
- //踏んでるけどまだ出てない...減衰
- LineState = 2;
- //timeout&reset...detach
- }
- else{//data.lnRaw==0
- //線をまたいでいるか，中途半端に線を踏んだあと復帰したか...減衰
- LineState = 1;
- //ping&reset
- //timeout&reset
- }
- }
- //else if(data.lnHold==0){...maxpower
- if(data.FieldState==LINE_OUTSIDE){
- LineState = 4;
- }*/
if(pow_x>=0){
@@ -797,7 +769,7 @@
}
}
void LineJudgeReturn(double pow_x, double pow_y, double *x, double *y){
- const int8_t static LineReturn[5] = {0, 0, 0, 0, 10};
+ const int8_t static LineReturn[5] = {0, 0, 0, 0, 20};
uint8_t LinePingState[4];
//◎ボールを追う力とラインから離れる力の向きが違うならばラインから離れる力が優先される．
//◎ボールを追う力とラインから離れる力の向きが同じならばボールを追う力が優先される．
@@ -805,7 +777,7 @@
//×ラインのほぼ場外では常時ラインから離れる力が優先される．
//※場外判定を行うには再び場内に戻る必要がある．
- if(data.FieldState==LINE_OUTSIDE){
+ if(data.FieldSpot==LINE_OUTSIDE){
LinePingState[L_PING]=(data.ping[L_PING]<WhiteToWall[X_PING]);
LinePingState[R_PING]=(data.ping[R_PING]<WhiteToWall[X_PING]);
@@ -815,17 +787,12 @@
//line間際の復帰力以外の力を作用させるか否か
data.lnStop[X_LINE]=1;
data.lnStop[Y_LINE]=1;
+
+ data.ReturnDir[X_LINE]=LINE_EMPTY;
+ data.ReturnDir[Y_LINE]=LINE_EMPTY;
+
//x
- if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==0)){
- if(pow_x>0){
- *x = -pow_x*(1-0.75);
- }
- else{
- *x = pow_x*(1-0.75);
- }
- data.lnStop[X_LINE]=1;
- }
- if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==1)){
+ if(data.ReturnDir[X_LINE]==L_LINE){
if(pow_x<0){
*x = 0;
data.lnStop[X_LINE]=1;
@@ -835,7 +802,7 @@
data.lnStop[X_LINE]=0;
}
}
- if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==0)){
+ else if(data.ReturnDir[X_LINE]==R_LINE){
if(pow_x>0){
*x = 0;
data.lnStop[X_LINE]=1;
@@ -845,22 +812,59 @@
data.lnStop[X_LINE]=0;
}
}
- if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)){
- *x = 0;
- data.lnStop[X_LINE]=0;
+ else if(data.ReturnDir[X_LINE]==LINE_EMPTY){
+ if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==0)){
+ /*if(pow_x>0){
+ *x = -pow_x*(1-0.75);
+ }
+ else{
+ *x = pow_x*(1-0.75);
+ }*/
+ data.lnStop[X_LINE]=1;
+ }
+ if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==1)){
+
+ data.ReturnDir[X_LINE]=L_LINE;
+
+ if(pow_x<0){
+ *x = 0;
+ data.lnStop[X_LINE]=1;
+ }
+ else{
+ *x = -LineReturn[4];
+ data.lnStop[X_LINE]=0;
+ }
+ }
+ if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==0)){
+
+ data.ReturnDir[X_LINE]=R_LINE;
+
+ if(pow_x>0){
+ *x = 0;
+ data.lnStop[X_LINE]=1;
+ }
+ else{
+ *x = LineReturn[4];
+ data.lnStop[X_LINE]=0;
+ }
+ }
+ if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)){
+ *x = 0;
+ data.lnStop[X_LINE]=0;
+ }
}
-
//y
- if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==0)){
+ if(data.ReturnDir[Y_LINE]==F_LINE){
if(pow_y>0){
- *y = -pow_y*(1-0.75);
+ *y = 0;
+ data.lnStop[Y_LINE]=1;
}
else{
- *y = pow_y*(1-0.75);
+ *y = LineReturn[4];
+ data.lnStop[Y_LINE]=0;
}
- data.lnStop[Y_LINE]=1;
}
- if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==1)){
+ else if(data.ReturnDir[Y_LINE]==B_LINE){
if(pow_y<0){
*y = 0;
data.lnStop[Y_LINE]=1;
@@ -870,24 +874,58 @@
data.lnStop[Y_LINE]=0;
}
}
- if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==0)){
- if(pow_y>0){
- *y = 0;
- data.lnStop[Y_LINE]=1;
+ else if(data.ReturnDir[Y_LINE]==LINE_EMPTY){
+ if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==0)){
+ /*if(pow_y>0){
+ *y = -pow_y*(1-0.75);
+ }
+ else{
+ *y = pow_y*(1-0.75);
+ }*/
+ data.lnStop[Y_LINE]=1;
}
- else{
- *y = LineReturn[4];
- data.lnStop[Y_LINE]=0;
+ if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==1)){
+
+ data.ReturnDir[Y_LINE]=B_LINE;
+
+ if(pow_y<0){
+ *y = 0;
+ data.lnStop[Y_LINE]=1;
+ }
+ else{
+ *y = -LineReturn[4];
+ data.lnStop[Y_LINE]=0;
+ }
+ }
+ if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==0)){
+
+ data.ReturnDir[Y_LINE]=F_LINE;
+
+ if(pow_y>0){
+ *y = 0;
+ data.lnStop[Y_LINE]=1;
+ }
+ else{
+ *y = LineReturn[4];
+ data.lnStop[Y_LINE]=0;
+ }
+ }
+ if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==1)){
+ *y = 0;
+ data.lnStop[Y_LINE]=0;
}
}
- if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==1)){
- *y = 0;
- data.lnStop[Y_LINE]=0;
+ //none
+ if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)&&(LinePingState[F_PING]==1)&&(LinePingState[B_PING]==1)){
+ //turn!
}
+ }
+ else{//data.FieldSpot==LINE_INSIDE
+
+ data.ReturnDir[X_LINE]=LINE_EMPTY;
+ data.ReturnDir[Y_LINE]=LINE_EMPTY;
- }
- else{//data.FieldState==LINE_INSIDE
*x = 0;
*y = 0;
@@ -1066,16 +1104,17 @@
LineJudgeReset();
//LineJudgeSlow(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]);
- //LineJudgeReturn(ir_x, ir_y, &LineReturnPower[X_LINE], &LineReturnPower[Y_LINE]);
+ LineJudgeReturn(ir_x, ir_y, &LineReturnPower[X_LINE], &LineReturnPower[Y_LINE]);
LineSlowPower[X_LINE] = 1.0;
LineSlowPower[Y_LINE] = 1.0;
-
+ /*
LineReturnPower[X_LINE] = 0.0;
LineReturnPower[Y_LINE] = 0.0;
data.lnStop[X_LINE] = 1;
data.lnStop[Y_LINE] = 1;
+ */
}
if(data.FieldSpot==LINE_OUTSIDE) LED = 0x9;