++++ fixed navigator logics

2 files changed, 20 insertions, 9 deletions

diff --git a/source/Concept/Framework/modules/logic/logic.c b/source/Concept/Framework/modules/logic/logic.c
index 00599d8..f698495 100755
--- a/source/Concept/Framework/modules/logic/logic.c
+++ b/source/Concept/Framework/modules/logic/logic.c
@@ -3,10 +3,7 @@
 //-----------------------------------------------------------------------------

 void Logic::OnBallOwned()

 {

-	Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);

-	

-	//ourWireless->Send(WIRELESS_CODE);

-	//ourWireless->Send();

+	this->SetKeeper(false);

 }

 

 //-----------------------------------------------------------------------------

@@ -27,12 +24,12 @@ void Logic::Update()
 	// is Keeper?

 	if(isKeeper) {

 		// turn around al little bit...

-		if((status == STATUS_KEEPER_TURN_LEFT && ourNavigator->AngleReached()) ||

+		if((status == STATUS_KEEPER_TURN_LEFT && !ourNavigator->IsMoving()) ||

 			 (status != STATUS_KEEPER_TURN_LEFT && status != STATUS_KEEPER_TURN_RIGHT)) {

 			status = STATUS_KEEPER_TURN_RIGHT;

 			ourNavigator->RotateTo(315,200);

 		}

-		else if(status == STATUS_KEEPER_TURN_RIGHT && ourNavigator->AngleReached()) {

+		else if(status == STATUS_KEEPER_TURN_RIGHT && !ourNavigator->IsMoving()) {

 			status = STATUS_KEEPER_TURN_LEFT;

 			ourNavigator->RotateTo(45, 200);

 		}

diff --git a/source/Concept/Framework/modules/logic/logic.h b/source/Concept/Framework/modules/logic/logic.h
index 296956b..ad8bad7 100755
--- a/source/Concept/Framework/modules/logic/logic.h
+++ b/source/Concept/Framework/modules/logic/logic.h
@@ -3,9 +3,6 @@
 

 #include "../../stdafx.h"

 

-#define STATUS_KEEPER_TURN_RIGHT 1

-#define STATUS_KEEPER_TURN_LEFT 2

-

 class Logic : public IO_Module

 {

 public:

@@ -29,9 +26,18 @@ protected:
 	bool isKeeper;

 	uint8 status;

 

+	enum LogicalStatus

+	{

+		STATUS_KEEPER_TURN_RIGHT,

+		STATUS_KEEPER_TURN_LEFT,

+	};

+

 	void OnBallOwned();

 	void OnBallLost();

 

+	void OnBecomeKeeper();

+	void OnBecomeAttacker();

+

 public:

 	void Update();

 

@@ -46,6 +52,14 @@ public:
 	}

 

 	void SetKeeper(bool newStatus) {

+		if(!this->isKeeper && newStatus)

+		{

+			this->OnBecomeKeeper();

+		}

+		else if(this->isKeeper && !newStatus)

+		{

+			this->OnBecomeAttacker();

+		}

 		this->isKeeper = newStatus;

 	}