def defender(me,
my_teammate,
opponent1,
opponent2,
ball,
strategy,
one_v_one=False):
global _offensive, _defensive, _neutral
if strategy == _offensive:
dist_to_maintain = 0.85
elif strategy == _defensive:
dist_to_maintain = 0.65
else:
dist_to_maintain = 0.25
if strategy == _defensive:
return Plays.stay_open_for_pass(me, my_teammate, ball)
if Utilities.am_i_closest_teammate_to_ball(me, my_teammate, ball):
if Utilities.am_i_closer_to_ball_than_opponents(
me, opponent1, opponent2, ball):
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
else:
return Skills.clear_ball_from_half(me, ball)
else: # I am in charge of stealing the ball
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
else:
closest_opp = Utilities.get_closest_opponent_to_ball(
opponent1, opponent2, ball)
return Plays.steal_ball_from_opponent(me, closest_opp, ball)
## My teammate is closer to the ball
else:
if Utilities.am_i_too_close_to_teammate(me, my_teammate):
return Skills.give_my_teammate_some_space(me, my_teammate)
else:
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
elif strategy == _offensive:
if me.ally1:
# call Utilities.are_both_opponents_attacking_goal?
return Plays.stay_open_for_pass(me, my_teammate, ball)
else: # ally2
return Plays.stay_between_points_at_distance(
Constants.goal_position_home[0],
Constants.goal_position_home[1], ball.xhat, ball.yhat,
dist_to_maintain)
else: # strategy is defensive
return Plays.stay_between_points_at_distance(
Constants.goal_position_home[0],
Constants.goal_position_home[1], ball.xhat, ball.yhat,
dist_to_maintain)
def attacker(me, my_teammate, opponent1, opponent2, ball, strategy, one_v_one=False):
global _offensive, _defensive, _neutral
middle_of_goal = 0
goal_target = 0.6
if Utilities.am_i_closest_teammate_to_ball(me, my_teammate, ball):
if Utilities.am_i_closer_to_ball_than_opponents(me, opponent1, opponent2, ball):
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
if me.ally1 or one_v_one:
if ball.yhat > 0:
return Plays.shoot_on_goal(me, ball, goal_target, opponent1, opponent2)
else:
return Plays.shoot_on_goal(me, ball, -goal_target, opponent1, opponent2)
else: # I am ally2
if strategy == _offensive:
if (opponent1.xhat < me.xhat and opponent2.xhat < me.xhat):
return Plays.shoot_on_goal(me, ball, middle_of_goal, opponent1, opponent2)
else:
# return Plays.shoot_on_goal(me, ball, middle_of_goal, opponent1, opponent2)
return Plays.pass_to_teammate(me, my_teammate, ball) # passes to teammate_future_position
else: #Defensive
if ball.yhat > 0:
return Plays.shoot_on_goal(me, ball, goal_target, opponent1, opponent2)
else:
return Plays.shoot_on_goal(me, ball, -goal_target, opponent1, opponent2)
else: #Basically, we don't have possession and I should be the one to steal the ball
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
else:
closest_opp = Utilities.get_closest_opponent_to_ball(opponent1, opponent2, ball)
return Plays.steal_ball_from_opponent(me, closest_opp, ball)
else: #My teammate is closer to the ball than me.
if Utilities.am_i_too_close_to_teammate(me, my_teammate):
return Skills.give_my_teammate_some_space(me, my_teammate)
elif Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
else:
# offensive only if we are behind in points
if strategy == _offensive:
if me.ally1:
return Plays.stay_open_for_pass(me, my_teammate, ball)
else: # I am ally2
return Plays.stay_at_midfield_follow_ball(me, opponent1, opponent2, ball)
# The secondary robot will always stay at midfield
else:
return Plays.stay_at_midfield_follow_ball(me, opponent1, opponent2, ball)
def defender(me, my_teammate, opponent1, opponent2, ball, strategy, one_v_one=False):
global _offensive, _defensive, _neutral
if strategy == _offensive:
dist_to_maintain = 0.85
elif strategy == _defensive:
dist_to_maintain = 0.65
else:
dist_to_maintain = 0.25
if strategy == _defensive:
return Plays.stay_open_for_pass(me, my_teammate, ball)
if Utilities.am_i_closest_teammate_to_ball(me, my_teammate, ball):
if Utilities.am_i_closer_to_ball_than_opponents(me, opponent1, opponent2, ball):
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
else:
return Skills.clear_ball_from_half(me, ball)
else: # I am in charge of stealing the ball
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
else:
closest_opp = Utilities.get_closest_opponent_to_ball(opponent1, opponent2, ball)
return Plays.steal_ball_from_opponent(me, closest_opp, ball)
## My teammate is closer to the ball
else:
if Utilities.am_i_too_close_to_teammate(me, my_teammate):
return Skills.give_my_teammate_some_space(me, my_teammate)
else:
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
elif strategy == _offensive:
if me.ally1:
# call Utilities.are_both_opponents_attacking_goal?
return Plays.stay_open_for_pass(me, my_teammate, ball)
else: # ally2
return Plays.stay_between_points_at_distance(Constants.goal_position_home[0], Constants.goal_position_home[1], ball.xhat, ball.yhat, dist_to_maintain)
else: # strategy is defensive
return Plays.stay_between_points_at_distance(Constants.goal_position_home[0], Constants.goal_position_home[1], ball.xhat, ball.yhat, dist_to_maintain)
def attacker(me,
my_teammate,
opponent1,
opponent2,
ball,
strategy,
one_v_one=False):
global _offensive, _defensive, _neutral
middle_of_goal = 0
goal_target = 0.6
if Utilities.am_i_closest_teammate_to_ball(me, my_teammate, ball):
if Utilities.am_i_closer_to_ball_than_opponents(
me, opponent1, opponent2, ball):
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
if me.ally1 or one_v_one:
if ball.yhat > 0:
return Plays.shoot_on_goal(me, ball, goal_target,
opponent1, opponent2)
else:
return Plays.shoot_on_goal(me, ball, -goal_target,
opponent1, opponent2)
else: # I am ally2
if strategy == _offensive:
if (opponent1.xhat < me.xhat and opponent2.xhat < me.xhat):
return Plays.shoot_on_goal(me, ball, middle_of_goal,
opponent1, opponent2)
else:
# return Plays.shoot_on_goal(me, ball, middle_of_goal, opponent1, opponent2)
return Plays.pass_to_teammate(
me, my_teammate,
ball) # passes to teammate_future_position
else: #Defensive
if ball.yhat > 0:
return Plays.shoot_on_goal(me, ball, goal_target,
opponent1, opponent2)
else:
return Plays.shoot_on_goal(me, ball, -goal_target,
opponent1, opponent2)
else: #Basically, we don't have possession and I should be the one to steal the ball
if Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
else:
closest_opp = Utilities.get_closest_opponent_to_ball(
opponent1, opponent2, ball)
return Plays.steal_ball_from_opponent(me, closest_opp, ball)
else: #My teammate is closer to the ball than me.
if Utilities.am_i_too_close_to_teammate(me, my_teammate):
return Skills.give_my_teammate_some_space(me, my_teammate)
elif Utilities.is_ball_behind_robot(me, ball):
return Skills.avoid_own_goal(me, ball)
else:
# offensive only if we are behind in points
if strategy == _offensive:
if me.ally1:
return Plays.stay_open_for_pass(me, my_teammate, ball)
else: # I am ally2
return Plays.stay_at_midfield_follow_ball(
me, opponent1, opponent2, ball)
# The secondary robot will always stay at midfield
else:
return Plays.stay_at_midfield_follow_ball(
me, opponent1, opponent2, ball)