def midfielder(self, robot_id):
goal_dist = helper.distance(self.cur_my_posture[robot_id][X],
self.field[X] / 2,
self.cur_my_posture[robot_id][Y], 0)
shoot_mul = 1
dribble_dist = 0.426
v = 5
goal_to_ball_unit = helper.unit(
[self.field[X] / 2 - self.cur_ball[X], -self.cur_ball[Y]])
delta = [
self.cur_ball[X] - self.cur_my_posture[robot_id][X],
self.cur_ball[Y] - self.cur_my_posture[robot_id][Y]
]
# if (self.distances[MY_TEAM][robot_id] < 0.5) and (delta[X] > 0):
if self.distances[MY_TEAM][robot_id] < 0.5:
# near
self.wheels[2 * robot_id:2 * robot_id +
2] = self.agent.get_action(
np.reshape(self.histories[robot_id],
-1)) # ddpg action
self.printConsole("robot id " + str(robot_id) + " distance: " +
str(self.distances[MY_TEAM][robot_id]))
self.printConsole("robot id " + str(robot_id) + "ddpg action")
else:
# far
self.position(
robot_id,
self.cur_ball[X] - dribble_dist * goal_to_ball_unit[X],
self.cur_ball[Y] - dribble_dist * goal_to_ball_unit[Y])
def midfielder(self, robot_id):
goal_dist = helper.distance(self.cur_my[robot_id][X], self.field[X]/2,
self.cur_my[robot_id][Y], 0)
shoot_mul = 1
dribble_dist = 0.426
v = 5
goal_to_ball_unit = helper.unit([self.field[X]/2 - self.cur_ball[X],
- self.cur_ball[Y]])
delta = [self.cur_ball[X] - self.cur_my[robot_id][X],
self.cur_ball[Y] - self.cur_my[robot_id][Y]]
if (self.dist_ball[MY_TEAM][robot_id] < 0.5) and (delta[X] > 0):
self.position(robot_id, self.cur_ball[X] + v*delta[X],
self.cur_ball[Y] + v*delta[Y])
else:
self.position(robot_id,
self.cur_ball[X] - dribble_dist*goal_to_ball_unit[X],
self.cur_ball[Y] - dribble_dist*goal_to_ball_unit[Y])