Update StrategySystem.cpp
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孙培伶 committed
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f9664432e4
commit
3ce7d65868
1 file changed
+53
-126
+53
-126
@@ -571,7 +571,7 @@ void CStrategySystem::Possession() {
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fp_sort(rp, 5, 8);
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Position(rp[6].id, pos[7]);
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Position(rp[7].id, pos[8]);
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Position(rp[9].id, pos[9]);
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Position(rp[8].id, pos[9]);
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}
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else if (ball.position.x >= 157 && ball.position.x <= 290 && ball.position.y > 409) {
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// 内圈
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@@ -597,7 +597,7 @@ void CStrategySystem::Possession() {
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fp_sort(rp, 5, 8);
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Position(rp[6].id, pos[7]);
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Position(rp[7].id, pos[8]);
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Position(rp[9].id, pos[9]);
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Position(rp[8].id, pos[9]);
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}
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else if (ball.position.x < 157 && ball.position.y >= 217 && ball.position.y <= 409) // 球在上半
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{
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@@ -624,7 +624,7 @@ void CStrategySystem::Possession() {
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Position(rp[0].id, pos[6]);
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Position(rp[1].id, pos[7]);
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Position(rp[7].id, pos[8]);
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Position(rp[9].id, pos[9]);
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Position(rp[8].id, pos[9]);
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}
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else if (ball.position.x < 157 && ball.position.y >= 217 && ball.position.y > 409) // 球在下半
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{
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@@ -651,7 +651,7 @@ void CStrategySystem::Possession() {
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Position(rp[0].id, pos[6]);
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Position(rp[1].id, pos[7]);
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Position(rp[7].id, pos[8]);
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Position(rp[9].id, pos[9]);
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Position(rp[8].id, pos[9]);
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}
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}
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@@ -1130,131 +1130,58 @@ void CStrategySystem::Possession() {
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// // 否则就保持一定速度在点位待机
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}
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else if (fm_id() == 9) {
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Position(cp_id(), ball.position);
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pos[1].y = ball.position.y;
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pos[1].x = 900;
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pos[2].x = pos[1].x;
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if (ball.position.y > 409) // 球在下面
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{
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pos[2].y = pos[1].y - 40;
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Direction(cp_id(), ball.position);
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if(ball.position.y > 409){
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pos[1].y = pos[0].y-35; pos[1].x = pos[0].x-10;
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pos[2].y = pos[0].y-25; pos[2].x = pos[0].x+30;
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pos[3].y = pos[0].y; pos[3].x = pos[0].x+30;
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pos[4].y = pos[0].y-65; pos[4].x = pos[0].x;
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pos[5].y = pos[0].y-75; pos[5].x = pos[0].x+60;
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pos[6].y = pos[0].y-60; pos[6].x = pos[0].x+70;
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pos[7].y = pos[0].y+20; pos[7].x = pos[0].x+70;
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pos[8].y = pos[0].y+60; pos[8].x = pos[0].x+70;
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pos[9].y = pos[0].y-90;pos[9].x = pos[0].x+70;
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}
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else if (ball.position.y <= 409) // 球在上面
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{
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pos[2].y = pos[1].y + 40;
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}
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if (ball.position.x < 873) // 球在禁区外
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{
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pos[3].x = ball.position.x;
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pos[3].y = ball.position.y + 55; // 球下面
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pos[4].x = ball.position.x;
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pos[4].y = ball.position.y - 55; // 球上面
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if (ball.position.x < 850) {
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pos[5].x = ball.position.x + 20;
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pos[5].y = ball.position.y; // 正对球
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}
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else {
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pos[5].x = 870;
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pos[5].y = ball.position.y; // 正对球
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}
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pos[6].x = 870;
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pos[6].y = ball.position.y + 50;
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pos[7].x = 870;
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pos[7].y = ball.position.y - 50;
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pos[8].x = 870;
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pos[8].y = ball.position.y + 65;
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pos[9].x = 870;
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pos[9].y = ball.position.y - 65;
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}
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else if (ball.position.x > 873) // 球在禁区里,球员不进禁区
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{
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pos[3].x = 870;
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pos[3].y = ball.position.y + 50; // 球下面
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pos[4].x = 870;
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pos[4].y = ball.position.y - 50; // 球上面
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pos[5].x = pos[1].x - 80;
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pos[5].y = ball.position.y; // 正对球
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if (ball.position.y > 409) // 球在下面
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{
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pos[6].x = 900;
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pos[6].y = 610;
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pos[7].x = pos[5].x;
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pos[7].y = pos[5].y - 70;
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pos[8].x = pos[5].x;
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pos[8].y = pos[5].y + 70;
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pos[9].x = 870;
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pos[9].y = ball.position.y - 100;
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}
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if (ball.position.y <= 409) // 球在下面
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{
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pos[6].x = 900;
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pos[6].y = 210;
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pos[7].x = pos[5].x;
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pos[7].y = pos[5].y - 70;
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pos[8].x = pos[5].x;
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pos[8].y = pos[5].y + 70;
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pos[9].x = 870;
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pos[9].y = ball.position.y + 100;
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}
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struct infor a[10];
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Robot2 *robot;
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for (int j = 1; j <= 9; j++) {
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for (int i = 1; i <= 9; i++) {
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a[i].num = i;
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a[i].dis = -1;
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switch (i) {
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case HOME1:
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robot = &home1;
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break;
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case HOME2:
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robot = &home2;
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break;
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case HOME3:
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robot = &home3;
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break;
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case HOME4:
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robot = &home4;
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break;
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case HOME5:
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robot = &home5;
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break;
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case HOME6:
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robot = &home6;
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break;
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case HOME7:
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robot = &home7;
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break;
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case HOME8:
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robot = &home8;
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break;
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case HOME9:
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robot = &home9;
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break;
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case HOME10:
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robot = &home10;
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break;
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}
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if (a[i].dis == -1)
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a[i].dis = Distance(pos[j], robot->position); // 机器人到点位的距离
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}
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int min = a[1].dis;
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int p = 1; // 最近的球员编号
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for (int l = 2; l <= 9; l++) // 选出最近的机器人
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{
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if (min <= a[l].dis) {
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a[l].dis = -1;
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}
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else {
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min = a[l].dis;
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a[p].dis = -1;
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p = l;
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}
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}
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if (a[p].num != cp_id()) // 不是中心球员
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PositionSE(a[p].num, pos[j]); // 移动到最近的点位
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else if(ball.position.y <= 409){
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pos[1].y = pos[0].y; pos[1].x = pos[0].x+30;
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pos[2].y = pos[0].y+35; pos[2].x = pos[0].x-40;
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pos[3].y = pos[0].y+25; pos[3].x = pos[0].x;
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pos[4].y = pos[0].y+65; pos[4].x = pos[0].x+70;
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pos[5].y = pos[0].y+75; pos[5].x = pos[0].x+60;
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pos[6].y = pos[0].y+65; pos[6].x = pos[0].x+70;
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pos[7].y = pos[0].y+20; pos[7].x = pos[0].x+70;
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pos[8].y = pos[0].y-20; pos[8].x = pos[0].x+70;
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pos[9].y = pos[0].y+90;pos[9].x = pos[0].x+70;
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}
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if(ball.position.x>=800){ //球临近禁区
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fp_sort(rp);
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fp_sort(rp,0,3);
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PositionSE(rp[0].id,pos[1]);
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PositionSE(rp[1].id,pos[2]);
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PositionSE(rp[2].id,pos[3]);
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fp_sort(rp,3,8);
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PositionSE(rp[3].id,pos[4]);
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PositionSE(rp[4].id,pos[5]);
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PositionSE(rp[5].id,pos[6]);
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PositionSE(rp[6].id,pos[7]);
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PositionSE(rp[7].id,pos[8]);
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fp_sort(rp,8,9);
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PositionSE(rp[8].id,pos[9]);
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}
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else{
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fp_sort(rp);
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fp_sort(rp,0,3);
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Direction(rp[0].id,pos[1]);
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Direction(rp[1].id,pos[2]);
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Direction(rp[2].id,pos[3]);
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fp_sort(rp,3,8);
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Direction(rp[3].id,pos[4]);
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Direction(rp[4].id,pos[5]);
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Direction(rp[5].id,pos[6]);
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Direction(rp[6].id,pos[7]);
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Direction(rp[7].id,pos[8]);
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fp_sort(rp,8,9);
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Direction(rp[8].id,pos[9]);
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}
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}
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else { // TODO 无中央球员
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