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Xi Xu committed
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@@ -34,7 +34,7 @@ void CStrategySystem::Freeball() {
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// 射门
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void CStrategySystem::Shot(int which) {
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Robot2 *robot;
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switch (10) {
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switch (which) {
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case HOME9:
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robot = &home9;
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break;
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@@ -42,19 +42,19 @@ void CStrategySystem::Shot(int which) {
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robot = &home10;
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break;
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}
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CPoint t1,t2,t3;
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CPoint t1, t2, t3;
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t1.x = ball.position.x;
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t1.y = ball.position.y;
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Position(10, t1); // 机器人到足够近的点
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t2.x = robot->position.x;
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t2.y = robot->position.y;
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if (Distance(t1,t2)==1)
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shot1(10);
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/*if ()
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shot2();*/
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if (Distance(t1, t2) == 1)
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shot1(HOME10);
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// if ()
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// shot2();
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}
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void CStrategySystem::shot1(int which) // 机器人which直射
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{
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void CStrategySystem::shot1(int which) { // 直射
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Robot2 *robot;
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switch (which) {
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case HOME9:
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@@ -67,12 +67,12 @@ void CStrategySystem::shot1(int which) // 机器人which直射
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CPoint t;
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t.x = ball.position.x;
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t.y = ball.position.y;
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double o=atan(abs(robot->position.y-t.y)*1.0/abs(robot->position.x-t.x));
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Angle(which,o);//朝向球角度
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Velocity(which,127,127);//射门
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double o = atan(abs(robot->position.y - t.y) * 1.0 / abs(robot->position.x - t.x));
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Angle(which, o); // 朝向球角度
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Velocity(which, 127, 127); // 射门
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}
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/*void CStrategySystem::shot2(int which); // 机器人which旋转射
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{
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void CStrategySystem::shot2(int which) { // 旋射
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Robot2 *robot;
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switch (which) {
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case HOME9:
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@@ -82,15 +82,12 @@ void CStrategySystem::shot1(int which) // 机器人which直射
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robot = &home10;
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break;
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}
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}*/
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/*int CStrategySystem::search()//查找在禁区里的机器人
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{
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}*/
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}
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int CStrategySystem::search() { // 查找在禁区里的机器人
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}
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// 控球
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// 控球，需调用 Shot
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void CStrategySystem::Possession() {
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// TODO: Possession
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}
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@@ -150,7 +147,7 @@ void CStrategySystem::Goalie() {
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else if (ball.position.x > 515 && ball.position.y < 217 && ball.position.y >= ball.oldPosition.y) {
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flag = true;
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if (hgoalie.position.y > 217) {
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PositionPro(HGOALIE, CPoint(ball.position));
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Direction(HGOALIE, CPoint(ball.position));
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}
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Position(HGOALIE, CPoint(gx, 265));
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}
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@@ -158,7 +155,7 @@ void CStrategySystem::Goalie() {
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else if (ball.position.x > 515 && ball.position.y <= ball.oldPosition.y) {
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flag = true;
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if (hgoalie.position.y < 607) {
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PositionPro(HGOALIE, CPoint(ball.position));
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Direction(HGOALIE, CPoint(ball.position));
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}
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Position(HGOALIE, CPoint(gx, 556));
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}
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@@ -174,37 +171,126 @@ double CStrategySystem::Distance(CPoint point1, CPoint point2) {
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return sqrt(1.0 * (point1.x - point2.x) * (point1.x - point2.x) + 1.0 * (point1.y - point2.y) * (point1.y - point2.y));
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}
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int CStrategySystem::Status() {
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/*if (ball.position.x <= 309 && ball.position.x >= 279 && ball.position.y >= 394 && ball.position.y <= 424)
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return 0; // 罚球
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if (ball.position.x <= 309 && ball.position.x >= 279 && ball.position.y >= 394 && ball.position.y <= 424)
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return 1; // 争球
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if (ball.position.x >= 900 && ball.position.x <= 930 && ball.position.y >= 394 && ball.position.y <= 424)
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return 2; // 射门*/
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return 2; // 控球
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double CStrategySystem::Angle(CPoint point1, CPoint point2) {
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return atan2(1.0 * (point1.y - point2.y), 1.0 * (point1.x - point2.x));
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}
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void CStrategySystem::Think() {
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if (Status() == 0) {
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Penalty();
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return;
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void CStrategySystem::Direction(int which, CPoint point) {
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Robot2 *robot;
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double distance_e;
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int dx, dy, desired_angle, theta_e, vL, vR;
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switch (which) {
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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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case HGOALIE:
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robot = &hgoalie;
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break;
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}
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if (Status() == 1) {
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Freeball();
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return;
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point.x = 2 * point.x - robot->position.x;
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point.y = 2 * point.y - robot->position.y;
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point.x = point.x < boundRect.left ? boundRect.left : point.x;
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point.x = point.x > boundRect.right ? boundRect.right : point.x;
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point.y = point.y < boundRect.top ? boundRect.top : point.y;
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point.y = point.y > boundRect.bottom ? boundRect.bottom : point.y;
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dx = point.x - robot->position.x;
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dy = point.y - robot->position.y;
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distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
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if (dx == 0 && dy == 0)
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desired_angle = 90;
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else
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desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
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theta_e = desired_angle - robot->angle;
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while (theta_e > 180)
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theta_e -= 360;
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while (theta_e < -180)
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theta_e += 360;
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if (theta_e < -90) {
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theta_e += 180;
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distance_e = -distance_e;
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}
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if (Status() == 2) {
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Shot(10);
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return;
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else if (theta_e > 90) {
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theta_e -= 180;
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distance_e = -distance_e;
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}
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if (Status() == 3) {
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Possession();
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return;
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vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
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vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
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Velocity(which, vL, vR);
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}
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// 判断状态，1 为罚球，0 为正常, 其他为争球
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int CStrategySystem::Status() {
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if (ball.position.x <= 309 && ball.position.x >= 279) {
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if (ball.position.y >= 394 && ball.position.y <= 424)
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return 1;
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if (ball.position.y <= 638 && ball.position.y >= 628)
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return 2; // 左下争球点
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if (ball.position.y <= 190 && ball.position.y >= 180)
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return 3; // 左上争球点
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}
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if (ball.position.x <= 950 && ball.position.x >= 920) {
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if (ball.position.y <= 638 && ball.position.y >= 628)
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return 4; // 右下争球点
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if (ball.position.y <= 190 && ball.position.y >= 180)
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return 5; // 右上争球点
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}
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return 0;
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}
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void CStrategySystem::Action() {
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Think();
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switch (Status()) {
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case 1:
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Penalty();
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break;
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case 2:
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case 3:
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case 4:
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case 5:
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Freeball();
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break;
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default:
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Possession();
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break;
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}
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Goalie();
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}
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void CStrategySystem::Angle(int which, int desired_angle) {
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@@ -372,78 +458,10 @@ void CStrategySystem::Position(int which, CPoint point) {
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break;
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}
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dx = point.x - robot->position.x;
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dy = point.y - robot->position.y;
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distance_e = sqrt(1.0 * dx * dx + 1.0 * dy * dy);
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if (dx == 0 && dy == 0)
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desired_angle = 90;
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else
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desired_angle = (int)(180.0 / M_PI * atan2((double)(dy), (double)(dx)));
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theta_e = desired_angle - robot->angle;
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while (theta_e > 180)
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theta_e -= 360;
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while (theta_e < -180)
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theta_e += 360;
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if (theta_e < -90) {
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theta_e += 180;
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distance_e = -distance_e;
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}
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else if (theta_e > 90) {
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theta_e -= 180;
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distance_e = -distance_e;
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}
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vL = (int)(5. * (100.0 / 1000.0 * distance_e + 40.0 / 90.0 * theta_e));
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vR = (int)(5. * (100.0 / 1000.0 * distance_e - 40.0 / 90.0 * theta_e));
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Velocity(which, vL, vR);
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}
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void CStrategySystem::PositionPro(int which, CPoint point) { // TODO: PositionPro
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Robot2 *robot;
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double distance_e;
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int dx, dy, desired_angle, theta_e, vL, vR;
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switch (which) {
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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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case HGOALIE:
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robot = &hgoalie;
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break;
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}
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point.x = point.x < boundRect.left ? boundRect.left : point.x;
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point.x = point.x > boundRect.right ? boundRect.right : point.x;
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point.y = point.y < boundRect.top ? boundRect.top : point.y;
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point.y = point.y > boundRect.bottom ? boundRect.bottom : point.y;
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dx = point.x - robot->position.x;
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dy = point.y - robot->position.y;
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