From 77d49fbee32c612a4e42755a5e8d4f80a237c7ac Mon Sep 17 00:00:00 2001
From: newhandzero <3487260047@qq.com>
Date: Thu, 2 Nov 2023 17:13:12 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B0=84=E5=AE=8C=E4=BA=86?=
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---
 StrategySystem.cpp | 65 +++++++++++++++++++++++-----------------------
 1 file changed, 33 insertions(+), 32 deletions(-)

diff --git a/StrategySystem.cpp b/StrategySystem.cpp
index f305230..804c086 100644
--- a/StrategySystem.cpp
+++ b/StrategySystem.cpp
@@ -22,30 +22,30 @@ extern int nKick;
 #define G_BOUND_BOUND 10
 
 // 罚球
-void CStrategySystem::Penalty() {
-	srand(time(nullptr));
-	int x = rand() % 2;
-	// 简单直线函数点球，向上射终点为（60，313），向下射终点为（60，505）；
-	int k, b;
-	// 1往上射
-	if (x) {
-		k = (ball.position.y - 313) / (ball.position.x - 60);
-		b = 313 - 60 * k;
-		if (home1.position.x <= (ball.position.x + 16) && home1.position.x >= (ball.position.x + 16 - 1) && home1.position.y >= ((ball.position.x + 16) * k + b) - 1 && home1.position.y <= (ball.position.x + 16) * k + b)
-			Direction(HOME1, ball.position); // 跟踪球射门
-		else
-			Position(HOME1, CPoint(ball.position.x + 16 /*球每次更新位置，则将机器人放到函数直线上与球不同位置上，下一周期在踢球*/, (ball.position.x + 16) * k + b)); // 机器人最开始不在范围，则移动到指定位置
-	}
-	// 往下射
-	else {
-		k = (ball.position.y - 505) / (ball.position.x - 60);
-		b = 505 - 60 * k;
-		if (home1.position.x <= (ball.position.x + 16) && home1.position.x >= (ball.position.x + 16) - 1 && home1.position.y >= ((ball.position.x + 16) * k + b) - 1 && home1.position.y <= (ball.position.x + 16) * k + b)
-			Direction(HOME1, ball.position); // 跟踪球射门
-		else
-			Position(HOME1, CPoint(ball.position.x + 16, /*球每次更新位置，则将机器人放到函数直线上与球不同位置上，下一周期在踢球*/ (ball.position.x + 16) * k + b)); // 机器人最开始不在范围，则移动到指定位置
-	}
-}
+// void CStrategySystem::Penalty() {
+// 	srand(time(nullptr));
+// 	int x = rand() % 2;
+// 	// 简单直线函数点球，向上射终点为（60，313），向下射终点为（60，505）；
+// 	int k, b;
+// 	// 1往上射
+// 	if (x) {
+// 		k = (ball.position.y - 313) / (ball.position.x - 60);
+// 		b = 313 - 60 * k;
+// 		if (home1.position.x <= (ball.position.x + 16) && home1.position.x >= (ball.position.x + 16 - 1) && home1.position.y >= ((ball.position.x + 16) * k + b) - 1 && home1.position.y <= (ball.position.x + 16) * k + b)
+// 			Direction(HOME1, ball.position); // 跟踪球射门
+// 		else
+// 			Position(HOME1, CPoint(ball.position.x + 16 /*球每次更新位置，则将机器人放到函数直线上与球不同位置上，下一周期在踢球*/, (ball.position.x + 16) * k + b)); // 机器人最开始不在范围，则移动到指定位置
+// 	}
+// 	// 往下射
+// 	else {
+// 		k = (ball.position.y - 505) / (ball.position.x - 60);
+// 		b = 505 - 60 * k;
+// 		if (home1.position.x <= (ball.position.x + 16) && home1.position.x >= (ball.position.x + 16) - 1 && home1.position.y >= ((ball.position.x + 16) * k + b) - 1 && home1.position.y <= (ball.position.x + 16) * k + b)
+// 			Direction(HOME1, ball.position); // 跟踪球射门
+// 		else
+// 			Position(HOME1, CPoint(ball.position.x + 16, /*球每次更新位置，则将机器人放到函数直线上与球不同位置上，下一周期在踢球*/ (ball.position.x + 16) * k + b)); // 机器人最开始不在范围，则移动到指定位置
+// 	}
+// }
 
 // 争球
 void CStrategySystem::Freeball() {
@@ -103,21 +103,22 @@ void CStrategySystem::Shot(int which) {
 	t1.y = ball.position.y;
 	if(t1.y<=409.0)
 	{
-		t4.x=65.0;t4.y=505.0;
+		t4.x=65.0;t4.y=500.0;
 		O = atan(fabs(ball.position.y - t4.y) / fabs(ball.position.x - t4.x)); // fabs(Angle(,t4));
 		O1=180-O;
-		t3.x=t1.x+cos(O)*39;
-		t3.y=t1.y-sin(O)*39;
+		t3.x=t1.x+cos(O)*9;
+		t3.y=t1.y-sin(O)*9;
 	}
 	if(t1.y>409.0)
 	{
-		t4.x=65.0;t4.y=313.0;
+		t4.x=65.0;t4.y=320.0;
 		O = atan(fabs(ball.position.y - t4.y) / fabs(ball.position.x - t4.x)); // fabs(Angle(ball.position,t4));
 		O1=180+O;
-		t3.x=t1.x+cos(O)*39;
-		t3.y=t1.y+sin(O)*39;
+		t3.x=t1.x+cos(O)*9;
+		t3.y=t1.y+sin(O)*9;
 	}
-	if (Distance(robot->position,ball.position)<=40&&(fabs(Angle(ball.position,t3)-Angle(ball.position,robot->position)))<=3) {
+	if (Distance(robot->position,ball.position)<=10&&(fabs(Angle(ball.position,t3)-Angle(ball.position,robot->position)))<=3) {
+		// Angle(which, O1);//射门角度
 		Direction(which, ball.position);
 	}
 	else 
@@ -129,7 +130,7 @@ void CStrategySystem::Shot(int which) {
 		shot1(which);*/
 	// if ()
 	// 	shot2();
-}
+	}
 
 void CStrategySystem::shot1(int which, double o) { // 直射
 	Robot2 *robot;