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51 lines
1.3 KiB
Go
51 lines
1.3 KiB
Go
// Copyright 2017 Team 254. All Rights Reserved.
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// Author: pat@patfairbank.com (Patrick Fairbank)
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//
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// Scoring logic for the 2017 rotor elements.
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package game
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import (
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"time"
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)
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type RotorSet struct {
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AutoRotors int
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Rotors int
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}
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// Updates the internal counting state of the rotors given the current state of the sensors.
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func (rotorSet *RotorSet) UpdateState(rotors [4]bool, matchStartTime, currentTime time.Time) {
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autoValidityCutoff := matchStartTime.Add(time.Duration(MatchTiming.AutoDurationSec) * time.Second)
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teleopValidityCutoff := autoValidityCutoff.Add(time.Duration(MatchTiming.PauseDurationSec+
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MatchTiming.TeleopDurationSec) * time.Second)
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if currentTime.After(matchStartTime) {
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if currentTime.Before(autoValidityCutoff) {
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if rotorSet.AutoRotors == 0 && rotors[0] {
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rotorSet.AutoRotors++
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}
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if rotorSet.AutoRotors == 1 && rotors[1] {
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rotorSet.AutoRotors++
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}
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} else if currentTime.Before(teleopValidityCutoff) {
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if rotorSet.totalRotors() == 0 && rotors[0] {
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rotorSet.Rotors++
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}
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if rotorSet.totalRotors() == 1 && rotors[1] {
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rotorSet.Rotors++
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}
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if rotorSet.totalRotors() == 2 && rotors[2] {
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rotorSet.Rotors++
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}
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if rotorSet.totalRotors() == 3 && rotors[3] {
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rotorSet.Rotors++
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}
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}
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}
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}
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func (rotorSet *RotorSet) totalRotors() int {
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return rotorSet.AutoRotors + rotorSet.Rotors
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}
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