wip: new dribble holding check

Author: Yuzz1e

api.go

@@ -131,7 +131,7 @@ func HandleRequest(conn net.Conn) {
 		"ERROR": %t,
 		"ERRORCODE": %d,
 		"ERRORMESSAGE": "%s"
-	}`, float32(recvdata.Volt)/10.0, recvdata.IsHoldBall, isRobotError, RobotErrorCode, RobotErrorMessage)
+	}`, float32(recvdata.Volt)/10.0, recvdata.IsDetectPhotosensor, isRobotError, RobotErrorCode, RobotErrorMessage)
 
 	fmt.Fprint(conn, response)
 

send_to_ai.go

@@ -29,7 +29,7 @@ func RunServer(chserver chan bool, MyID uint32) {
 	defer conn.Close()
 
 	for {
-		pe := createStatus(uint32(MyID), recvdata.IsHoldBall, uint32(recvdata.Volt), uint32(recvdata.CapPower))
+		pe := createStatus(uint32(MyID), recvdata.IsDetectPhotosensor, uint32(recvdata.Volt), uint32(recvdata.CapPower))
 		Data, _ := proto.Marshal(pe)
 
 		conn.Write([]byte(Data))

serial.go

@@ -166,10 +166,10 @@ func RunSerial(chclient chan bool, MyID uint32) {
 		// time.Sleep(16 * time.Millisecond) //少し待つ
 		//log.Printf("Sent %v bytes\n", n)  //何バイト送信した？
 		if kicker_enable || sendbytes[8] != 0 {
-			log.Printf("Kickerval: %3d | sendbytes[8]: %3d | ball_detect: %t\n", kicker_val, sendbytes[8], recvdata.IsHoldBall)
+			log.Printf("Kickerval: %3d | sendbytes[8]: %3d | ball_detect: %t\n", kicker_val, sendbytes[8], recvdata.IsDetectPhotosensor)
 		}
 		if chip_enable || sendbytes[9] != 0 {
-			log.Printf("Chipval: %3d | sendbytes[9]: %3d |  ball_detect: %t\n", chip_val, sendbytes[9], recvdata.IsHoldBall)
+			log.Printf("Chipval: %3d | sendbytes[9]: %3d |  ball_detect: %t\n", chip_val, sendbytes[9], recvdata.IsDetectPhotosensor)
 		}
 		// log.Println(sendbytes) //送信済みのバイトを表示
 

variables.go

@@ -19,9 +19,10 @@ var sendarray bytes.Buffer //送信用バッファ
 
 // 受信時の構造体
 type RecvStruct struct {
-	Volt       uint8
-	IsHoldBall bool
-	CapPower   uint8
+	Volt                uint8
+	IsDetectPhotosensor bool
+	IsTouchingDribbler  bool
+	CapPower            uint8
 }
 
 type SendStruct struct {