task FlywheelSpeedControl() {
while(true) {
float spd = isFlywheelOn ? targetFlywheelSpeed : 0;
setTargetSpeed(ctlrL, spd);
setTargetSpeed(ctlrR, spd);
update(ctlrL);
update(ctlrR);
delay(30);
}
}
float
InsideTrackA::get_accel(CarState &cs) {
setTargetSpeed(cs);
float Front, max10, max20;
Front = cs.getTrack(10);
max10 = max(cs.getTrack(9), cs.getTrack(11));
max20 = max(cs.getTrack(8), cs.getTrack(12));
float accel = (cs.getSpeedX() > target_speed ? 0 : (Front+max10+max20)/(3*200));
if(Front >= 70) accel = 1;
if(Front <= 20 && cs.getSpeedX() <= 30) accel = 1; /*Resolve o caso em que o carro está preso com a frente voltada para a borda da pista*/
//printf("%.0f, %.0f, %.0f --> accel: %.2f\n", Front, max10, max20, accel);
return accel ;
}
void Dribbler::start() {
setTargetSpeed(-conf->robot.dribblerSpeed);
stopRequestedTime = -1.0;
}
void Dribbler::prime() {
setTargetSpeed(-conf->robot.dribblerSpeed);
//setTargetSpeed(-Config::robotDribblerSpeed / 2);
stopRequestedTime = -1.0;
}
