diff options
Diffstat (limited to 'source/Concept/Framework/modules/interpreter/ball_tracker.c')
| -rwxr-xr-x | source/Concept/Framework/modules/interpreter/ball_tracker.c | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/source/Concept/Framework/modules/interpreter/ball_tracker.c b/source/Concept/Framework/modules/interpreter/ball_tracker.c index 16fdfb4..a882abb 100755 --- a/source/Concept/Framework/modules/interpreter/ball_tracker.c +++ b/source/Concept/Framework/modules/interpreter/ball_tracker.c @@ -3,6 +3,8 @@ //-----------------------------------------------------------------------------
void Ball_Tracker::Update()
{
+ Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+
uint8 sensorCount = (IO_SENSOR_IR_330_DEG - IO_SENSOR_IR_0_DEG) + 1;
uint16 intensity[sensorCount];
uint8 greatestIntensity = 0;
@@ -26,15 +28,12 @@ void Ball_Tracker::Update() {
if(intensity[i] > BALL_HELD_INTENSITY) // Ball derzeit sehr nah dran
{
- ballHeld = true;
- ballHeldCounter = 100;
+ if(ballHeldCounter < 10) ballHeldCounter++;
}
- else if(ballHeldCounter > 0) // Oder vor kurzem erst sehr nah dran
+ else if(ballHeldCounter > 0) {
- ballHeld = true;
ballHeldCounter--;
}
- else ballHeld = false; // ansonsten hat er den Ball nicht
}
}
@@ -132,13 +131,15 @@ void Ball_Tracker::Update() direction = (intensity[greatestIntensity] * mainDirection +
intensity[secondIntensity] * secondDirection) /
(intensity[greatestIntensity] + intensity[secondIntensity]);
-
- direction = easyAngle(direction);
}
else
{
direction = mainDirection;
}
+
+ direction += ourPositionTracker->GetOrientation();
+
+ direction = easyAngle(direction);
}
else
{
|