def move(self,
robot_id,
idx,
idx_opp,
defense_angle,
attack_angle,
cur_posture,
cur_posture_opp,
previous_ball,
cur_ball,
predicted_ball,
cross=False,
shoot=False,
quickpass=False,
jump=False,
dribble=False):
self.action.update_state(cur_posture, cur_ball)
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
x = -4.5
y = -0.5
self.flag = 1
elif helper.ball_is_own_penalty(predicted_ball, self.field,
self.penalty_area):
x = -4.5
y = -0.5
self.flag = 2
elif helper.ball_is_own_field(predicted_ball):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 3
elif helper.ball_is_opp_goal(predicted_ball, self.field,
self.goal_area):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 4
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
self.flag = 5
elif helper.ball_is_opp_penalty(predicted_ball, self.field,
self.penalty_area):
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 6
if cur_posture[robot_id][BALL_POSSESSION]:
shoot = True
self.flag = 7
else:
x = cur_ball[X]
y = cur_ball[Y]
self.flag = 8
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
def move(self,
robot_id,
idx,
idx_opp,
defense_angle,
attack_angle,
cur_posture,
cur_posture_opp,
previous_ball,
cur_ball,
predicted_ball,
cross=False,
shoot=False,
quickpass=False,
jump=False,
dribble=False):
self.action.update_state(cur_posture, cur_ball)
protection_radius = self.goal_area[Y] / 2 - 0.1
angle = defense_angle
protection_x = math.cos(angle) * protection_radius - self.field[X] / 2
protection_y = math.sin(angle) * protection_radius
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
x = protection_x
y = protection_y
self.flag = 1
elif helper.ball_is_own_penalty(predicted_ball, self.field,
self.penalty_area):
x = protection_x
y = protection_y
self.flag = 2
elif helper.ball_is_own_field(predicted_ball):
x = protection_x
y = protection_y
self.flag = 3
elif helper.ball_is_opp_goal(predicted_ball, self.field,
self.goal_area):
x = protection_x
y = protection_y
self.flag = 4
elif helper.ball_is_opp_penalty(predicted_ball, self.field,
self.penalty_area):
x = protection_x
y = protection_y
self.flag = 5
else:
x = protection_x
y = protection_y
self.flag = 6
left_wheel, right_wheel = self.action.go_to(robot_id, x, y)
kick_speed, kick_angle = self.action.kick(cross, shoot, quickpass)
jump_speed = self.action.jump(jump)
dribble_mode = self.action.dribble(dribble)
return left_wheel, right_wheel, kick_speed, kick_angle, jump_speed, dribble_mode
def move(self, id, idx_d, idx_a, cur_posture, cur_posture_opp,
previous_ball, cur_ball, predicted_ball):
speeds = [0, 0, 0, 0]
ball_dist = helper.distance(cur_posture[id][X], cur_ball[X],
cur_posture[id][Y], cur_ball[Y])
min_x = 0
max_x = 0
min_y = 0
max_y = 0
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
x = -0.5
y = 1
speeds[3] = 0
elif helper.ball_is_own_penalty(predicted_ball, self.field,
self.penalty_area):
x = -0.5
y = 1
speeds[3] = 2
elif helper.ball_is_own_field(predicted_ball):
x = -0.5
y = 1
speeds[3] = 4
elif helper.ball_is_opp_goal(predicted_ball, self.field,
self.goal_area):
x = -0.5
y = 1
speeds[3] = 6
elif helper.ball_is_opp_penalty(predicted_ball, self.field,
self.penalty_area):
x = -0.5
y = 1
speeds[3] = 8
else: # ball is opp field
x = -0.5
y = 1
speeds[3] = 10
speeds[0], speeds[1] = helper.go_to(self, id, x, y, cur_posture,
cur_ball)
return speeds
def move(self, id, idx_d, idx_a, cur_posture, cur_posture_opp,
previous_ball, cur_ball, predicted_ball):
# speed list: left wheel, right wheel, front slider, bottom slider
speeds = [0, 0, 0, 0]
ball_dist = helper.distance(cur_posture[id][X], cur_ball[X],
cur_posture[id][Y], cur_ball[Y])
min_x = -self.field[X] / 2 # = -3.9
max_x = -self.field[X] / 2 + self.penalty_area[X] # = -3
min_y = -self.goal_area[Y] / 2 # = -0.5
max_y = self.goal_area[Y] / 2 # = 0.5
if helper.ball_is_own_goal(predicted_ball, self.field, self.goal_area):
x = cur_ball[X]
y = cur_ball[Y]
elif helper.ball_is_own_penalty(predicted_ball, self.field,
self.penalty_area):
x = min_x
y = max_y
elif helper.ball_is_own_field(predicted_ball):
x = -3
y = 0
elif helper.ball_is_opp_goal(predicted_ball, self.field,
self.goal_area):
x = cur_posture[1][X]
y = cur_posture[1][Y]
elif helper.ball_is_opp_penalty(predicted_ball, self.field,
self.penalty_area):
x = cur_posture_opp[4][X]
y = cur_posture_opp[4][Y]
else: # ball is opp field
x = max_x
y = max_y
speeds[0], speeds[1] = helper.go_to(self, id, x, y, cur_posture,
cur_ball)
return speeds
