[Core] update

Robocup-ssl-China · Apr 17, 2024 · 8c98588 · 8c98588
1 parent 587f557
commit 8c98588
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Showing 3 changed files with 11 additions and 7 deletions.
diff --git a/Core/src/MotionControl/CMmotion.cpp b/Core/src/MotionControl/CMmotion.cpp
@@ -488,16 +488,21 @@ double expectedCMPathTime(const PlayerPoseT& start, const CGeoPoint& final, doub
 
 double predictedTime(const PlayerVisionT& start, const CGeoPoint & Target, const CVector& targetVel) {
     CVector x = start.Pos() - Target;
-    CVector v = (start.Vel().mod() < 2.5*10) ? CVector(0, 0) : start.Vel();
+    CVector v = start.Vel();
     double time;
     CVector a;
-    double accel_factor = 1.5;
+    double accel_factor = 1.8;
     if(IS_SIMULATION) {
         accel_factor = 1.0;
     }
-    compute_motion_2d(x, v, targetVel,
+    // compute_motion_2d(x, v, targetVel,
+    //                   OUR_MAX_ACC,
+    //                   OUR_MAX_DEC,
+    //                   OUR_MAX_SPEED,
+    //                   accel_factor,
+    //                   a, time);
+    __new_compute_motion_2d(x, v, targetVel,
                       OUR_MAX_ACC,
-                      OUR_MAX_DEC,
                       OUR_MAX_SPEED,
                       accel_factor,
                       a, time);
@@ -507,7 +512,7 @@ double predictedTime(const PlayerVisionT& start, const CGeoPoint & Target, const
 
 double predictedTimeWithRawVel(const PlayerVisionT& start, const CGeoPoint & Target, const CVector& targetVel) {
     CVector x = start.Pos() - Target;
-    CVector v = (start.RawVel().mod() < 2.5*10) ? CVector(0, 0) : start.RawVel();
+    CVector v = start.RawVel();
 //    GDebugEngine::Instance()->gui_debug_msg(start.Pos(), QString("vel: (%1, %2)").arg(v.x()).arg(v.y()).toLatin1());
     double time;
     CVector a;

diff --git a/Core/tactics/skill/Touch.cpp b/Core/tactics/skill/Touch.cpp
@@ -46,7 +46,7 @@ void CTouch::plan(const CVisionModule* pVision){
     CGeoPoint bestPos = BallSpeedModel::instance()->poseForTime(1.0).Pos();
     for(double dist = 0; dist < 3000; dist += 20){
         auto pos = ballPos + Utils::Polar2Vector(dist, ballVelDir);
-        double t1 = predictedTimeWithRawVel(me, pos);
+        double t1 = predictedTime(me, pos);
         double t2 = BallSpeedModel::Instance()->timeForDist(dist);
         if (DEBUG_SWITCH){
             GDebugEngine::Instance()->gui_debug_x(pos,COLOR_GREEN);

diff --git a/ZBin/lua_scripts/skill/GoCmuRush.lua b/ZBin/lua_scripts/skill/GoCmuRush.lua
@@ -5,7 +5,6 @@ function GoCmuRush(task)
 	local msender = task.sender or 0
 	local mrole   = task.srole or ""
 	local macc    = task.acc or 0
-	local mrec    = task.rec or 0 --mrec判断是否吸球  gty 2016-6-15
 	local mvel
 	local mspeed  = task.speed or 0
 	local mforce_maunal_set_running_param = task.force_manual or false