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penalti com toque #4

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38 changes: 36 additions & 2 deletions src/Modules/Processing/CustomPlayer/CustomPlayer.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#include "CustomPlayer.h"
#include "Packages/SSLRobotCommand/SSLRobotCommand.h"

CustomPlayer::CustomPlayer(int index, QThreadPool* threadPool) : Processing(index, threadPool) {
}
Expand Down Expand Up @@ -37,9 +38,42 @@ void CustomPlayer::exec() {
if (!field || !frame || !robot) {
return;
}
if(!frame->has_ball()) return;
auto&& pos_ball = frame->ball();

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Padronizar o nome das variáveis. Nesse caso, o nome devera ser posBall.

@ersaraujo ersaraujo Mar 15, 2025

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Em C++ costumamos usar o padrão camelCase

if(field->enemyPenaltyAreaContains(pos_ball)) return;
if(robot->distTo(pos_ball)>150)

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Colocar nomes de variáveis descritivas para facilitar o entendimento:

Suggested change
if(robot->distTo(pos_ball)>150)
bool isRobotFarFromBall = robot->distTo(pos_ball)>150;
if(isRobotFarFromBall)

{
SSLMotion::GoToPoint goToPoint(pos_ball,
(pos_ball - robot->position()).angle(),
true);
auto command = sslNavigation.run(robot.value(), SSLRobotCommand(goToPoint));
command.set_dribbler(true);
command.set_dribblerVelocity(4);
emit sendCommand(command);
}else {
SSLMotion::RotateOnSelf Rotate((field->enemyGoalInsideCenter() -robot->position()).angle());

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Manter o padrão dos nomes dos estados

Suggested change
SSLMotion::RotateOnSelf Rotate((field->enemyGoalInsideCenter() -robot->position()).angle());
SSLMotion::RotateOnSelf rotate((field->enemyGoalInsideCenter() - robot->position()).angle());

auto command = sslNavigation.run(robot.value(), SSLRobotCommand(Rotate));
command.set_dribbler(true);
command.set_dribblerVelocity(4);
emit sendCommand(command);
if(abs(robot->angleTo(field->enemyGoalInsideCenter()))<0.1)
{
SSLMotion::GoToPoint goToPoint(pos_ball,
(pos_ball - robot->position()).angle(),
true);
auto irparapos = sslNavigation.run(robot.value(), SSLRobotCommand(goToPoint));
irparapos.set_front(true);
irparapos.set_kickSpeed(2);
Comment on lines +64 to +66

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Pode ser um nome mais descritivo

Suggested change
auto irparapos = sslNavigation.run(robot.value(), SSLRobotCommand(goToPoint));
irparapos.set_front(true);
irparapos.set_kickSpeed(2);
auto command = sslNavigation.run(robot.value(), SSLRobotCommand(goToPoint));
command.set_front(true);
command.set_kickSpeed(2);


if(robot->distTo(field->enemyGoalInsideCenter())<4000)
{
irparapos.set_kickSpeed(6);
}
emit sendCommand(irparapos);
Comment on lines +70 to +72

@MatheusPaixaoG MatheusPaixaoG Mar 15, 2025

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Trocar aqui também

Suggested change
irparapos.set_kickSpeed(6);
}
emit sendCommand(irparapos);
command.set_kickSpeed(6);
}
emit sendCommand(command);

}

}

// TODO: here...
// emit sendCommand(...);
}

void CustomPlayer::receiveField(const Field& field) {
Expand Down