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fix shoot profile bug #142

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merged 1 commit into from
Jul 20, 2024
Merged

fix shoot profile bug #142

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35 changes: 18 additions & 17 deletions source/sender/nrf.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#include "nrf.h"

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File source/sender/nrf.cpp does not conform to Custom style guidelines. (lines 106)

#include "protocol/writer.h"

Expand All @@ -6,22 +6,22 @@
{

static Common::Vec2 shoot_coeffs[Common::Config::Common::kMaxRobots] = {
{4.45f, 2.59f}, // 0
{4.48f, 2.6f}, // 1
{3.42f, 3.43f}, // 2
{4.45f, 2.59f}, // 0
{4.48f, 2.6f}, // 1
{3.42f, 3.43f}, // 2
{6.22f, -0.43f}, // 3
{9.74f, 12.8f}, // 4
{4.46f, 2.66f}, // 5
{9.74f, 12.8f}, // 6
{4.02f, 3.38f}, // 7
{1.0f, 0.0f}, // 8*
{1.0f, 0.0f}, // 9*
{1.0f, 0.0f}, // 10*
{1.0f, 0.0f}, // 11*
{1.0f, 0.0f}, // 12*
{1.0f, 0.0f}, // 13*
{1.0f, 0.0f}, // 14*
{1.0f, 0.0f}, // 15*
{9.74f, 12.8f}, // 4
{4.46f, 2.66f}, // 5
{9.74f, 12.8f}, // 6
{4.02f, 3.38f}, // 7
{1.0f, 0.0f}, // 8*
{1.0f, 0.0f}, // 9*
{1.0f, 0.0f}, // 10*
{1.0f, 0.0f}, // 11*
{1.0f, 0.0f}, // 12*
{1.0f, 0.0f}, // 13*
{1.0f, 0.0f}, // 14*
{1.0f, 0.0f}, // 15*
};

static Common::Vec2 chip_coeffs[Common::Config::Common::kMaxRobots] = {
Expand Down Expand Up @@ -65,7 +65,7 @@

buff_idx = 0;
auto buffer = commUDP->getBuffer();
for (int i = 0; i < buffer.size(); i++)

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{
buffer[i] = 0x00;
}
Expand Down Expand Up @@ -102,8 +102,9 @@
convert_float_to_2x_buff(data + 9, command.current_angle.deg());
if (command.shoot > 0)
{
getCalibratedShootPow(Common::config().soccer.kick_tune_coef * command.shoot, shoot_coeffs[command.vision_id]);
data[11] = command.shoot;

data[11] = static_cast<unsigned char> (getCalibratedShootPow(Common::config().soccer.kick_tune_coef * command.shoot,
shoot_coeffs[command.vision_id]));
data[12] = 0x00;
}
else if (command.chip > 0)
Expand Down
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