控球区域判断
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Wx-debug committed
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commit
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1 file changed
+136
-15
+136
-15
@@ -212,51 +212,172 @@ void CStrategySystem::control(int which) {
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break;
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}
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// 进攻区域
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if (ball.position.x <= 665) {
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if (ball.position.x <= 590) {
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// 对方罚球区内
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if (ball.position.x <= 160 && ball.position.y >= 607 && ball.position.y <= 217) {
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Position(which, CPoint(160, ball.position.y));
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if (ball.position.x <= 160) {
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// Position(which, CPoint(160, ball.position.y));
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}
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// 对方下半场
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else if (ball.position.y > 607) {
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// 机器人在球右下
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if (robot->position.y < ball.position.y && robot->position.x > ball.position.x) {
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Position(which, ball.position);
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if (robot->position.y <= ball.position.y && robot->position.x >= ball.position.x) {
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Direction(which, ball.position);
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// Velocity(which, 127, 127);
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}
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// 机器人在球右上
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else if (robot->position.y > ball.position.y && robot->position.x > ball.position.x) {
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// 绕道球下方
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Direction(which, CPoint(ball.position.x + 10, ball.position.y));
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// Velocity(which, vL, vR);
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}
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// 机器人在球左上
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else if (robot->position.y < ball.position.y && robot->position.x < ball.position.x) {
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// Position(which, CPoint(ball.));
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}
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// 机器人在球左下
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else {
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Direction(which, CPoint(ball.position.x - 20, ball.position.y));
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}
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}
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// 对方中场
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else if (ball.position.y < 217 && ball.position.y >= 572) {
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// 机器人在球的右下或右中
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if (robot->position.x > ball.position.x && robot->position.y <= ball.position.y) {
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else if (ball.position.y >= 217 && ball.position.y >= 607) {
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// 机器人在球的右下
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if (robot->position.x >= ball.position.x && robot->position.y <= ball.position.y) {
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Direction(which, ball.position);
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}
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// 在机器人在球右上
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// 机器人在球右上
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else if (robot->position.x > ball.position.x && robot->position.y > ball.position.y) {
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// 右上且距离较远
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if (robot->position.y >= ball.position.y + 100) {
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Position(which, CPoint(ball.position.x - 20, ball.position.y + 30));
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Direction(which, CPoint(ball.position.x + 20, ball.position.y + 20));
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}
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// 距离较近
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else {
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Position(which, CPoint(ball.position.x - 10, ball.position.y));
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Direction(which, CPoint(ball.position.x + 10, ball.position.y));
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}
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}
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// 机器人在球左下
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else if (robot->position.x <= ball.position.x && robot->position.y >= ball.position.y) {
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Direction(which, CPoint(ball.position.x - 20, ball.position.y + 20));
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}
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// 机器人在球左上
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else {
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Direction(which, CPoint(ball.position.x - 20, ball.position.y - 20));
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}
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}
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// 上场
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else {
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// 机器人在球右上
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if (robot->position.x >= ball.position.x && robot->position.y <= ball.position.y) {
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Direction(which, ball.position);
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}
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// 机器人在球右下
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else if (robot->position.x >= ball.position.x && robot->position.y > ball.position.y) {
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Direction(which, CPoint(ball.position.x + 20, ball.position.y));
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}
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// 机器人在球左上
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else if (robot->position.x < ball.position.x && robot->position.y >= ball.position.y) {
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Direction(which, CPoint(ball.position.x - 20, ball.position.y));
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}
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// 机器人在左下
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else {
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}
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}
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}
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// 防守区域（1右上+正上，2左上+正左，3左下+正下，4右下+正右）
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else if (ball.position.x > 590 && ball.position.x < 965) {
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// 己方罚球区内
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if (ball.position.x >= 873 && ball.position.y <= 607 && ball.position.y >= 217) {
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Position(which, CPoint(873, ball.position.y));
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}
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// 己方上半场
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else if (ball.position.y < 217 && ball.position.y >= 0) {
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// 机器人在球1区
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if (robot->position.y < ball.position.y && robot->position.x >= ball.position.x) {
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// 绕道球上
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PositionSE(which, CPoint(ball.position.x + 10, ball.position.y));
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}
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// 机器人在球2区
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else if (robot->position.y <= ball.position.y && robot->position.x < ball.position.x) {
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// 绕道球下
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PositionSE(which, CPoint(ball.position.x - 10, ball.position.y));
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}
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// 机器人在3区
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else if (robot->position.y > ball.position.y && robot->position.x <= ball.position.x) {
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PositionSE(which, ball.position);
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}
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// 机器人在球4区
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else if (robot->position.y >= ball.position.y && robot->position.x > ball.position.x) {
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PositionSE(which, ball.position);
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}
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}
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// 己方中场
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else if (ball.position.y > 217 && ball.position.y <= 607) {
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// 球在中场上侧，要把球往上压
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if (ball.position.y < 409) {
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// 机器人在球1区
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if (robot->position.y < ball.position.y && robot->position.x >= ball.position.x) {
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// 绕道球上
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PositionSE(which, CPoint(ball.position.x + 10, ball.position.y));
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}
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// 机器人在球2区
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else if (robot->position.y <= ball.position.y && robot->position.x < ball.position.x) {
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// 绕道球下
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PositionSE(which, CPoint(ball.position.x - 10, ball.position.y));
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}
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// 机器人在3区
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else if (robot->position.y > ball.position.y && robot->position.x <= ball.position.x) {
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PositionSE(which, ball.position);
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}
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// 机器人在球4区
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else if (robot->position.y >= ball.position.y && robot->position.x > ball.position.x) {
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PositionSE(which, ball.position);
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}
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}
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// 球在中场下侧，要把球往下压
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else {
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// 机器人在球1区
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if (robot->position.y < ball.position.y && robot->position.x >= ball.position.x) {
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// 绕道球上
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PositionSE(which, ball.position);
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}
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// 机器人在球2区
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else if (robot->position.y <= ball.position.y && robot->position.x < ball.position.x) {
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// 绕道球下
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PositionSE(which, ball.position);
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}
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// 机器人在3区
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else if (robot->position.y > ball.position.y && robot->position.x <= ball.position.x) {
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PositionSE(which, CPoint(ball.position.x - 10, ball.position.y));
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}
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// 机器人在球4区
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else if (robot->position.y >= ball.position.y && robot->position.x > ball.position.x) {
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PositionSE(which, CPoint(ball.position.x + 10, ball.position.y));
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}
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}
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}
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// else
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// 己方下半场
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else if (ball.position.y > 607) {
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// 机器人在球1区
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if (robot->position.y < ball.position.y && robot->position.x >= ball.position.x) {
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// 绕道球上
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PositionSE(which, ball.position);
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}
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// 机器人在球2区
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else if (robot->position.y <= ball.position.y && robot->position.x < ball.position.x) {
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// 绕道球下
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PositionSE(which, ball.position);
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}
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// 机器人在3区
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else if (robot->position.y > ball.position.y && robot->position.x <= ball.position.x) {
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PositionSE(which, CPoint(ball.position.x - 10, ball.position.y));
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}
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// 机器人在球4区
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else if (robot->position.y >= ball.position.y && robot->position.x > ball.position.x) {
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PositionSE(which, CPoint(ball.position.x + 10, ball.position.y));
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}
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}
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}
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else if (robot->position.x > ball.position.x && robot->position.x >= 160)
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Direction(which, ball.position);
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}
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// 控球，需调用 Shot
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void CStrategySystem::Possession() {
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