def get_readings(): """ Returns the main sensor readings """ cl_enemy = ai.closestShipId() data = {} data["X"] = ai.selfX() data["Y"] = ai.selfY() data["VelX"] = ai.selfVelX() data["VelY"] = ai.selfVelY() data["RadarX"] = ai.selfRadarX() data["RadarY"] = ai.selfRadarY() data["Orientation"] = ai.selfHeadingDeg() data["ClosestRadarX"] = ai.closestRadarX() data["ClosestRadarY"] = ai.closestRadarY() data["ClosestItemX"] = ai.closestItemX() data["ClosestItemY"] = ai.closestItemY() data["EnemySpeed"] = ai.enemySpeedId(cl_enemy) data["EnemyX"] = ai.screenEnemyXId(cl_enemy) data["EnemyY"] = ai.screenEnemyYId(cl_enemy) data["EnemyHeading"] = ai.enemyHeadingDegId(cl_enemy) data["EnemyShield"] = ai.enemyShieldId(cl_enemy) data["EnemyDistance"] = ai.enemyDistanceId(cl_enemy) data["ShotAlert"] = ai.shotAlert(0) data["ShotDist"] = ai.shotDist(0) data["ShotVel"] = ai.shotVel(0) data["ShotVelDir"] = ai.shotVelDir(0) return data
def act(self): angle = ai.enemyHeadingDeg(self.idE) pos = np.array([ai.screenEnemyXId(self.idE), ai.screenEnemyYId(self.idE)]) vel = ai.enemySpeedId(self.idE) * np.array([np.cos(angle), np.sin(angle)]) self.target = pos - vel * self.K self.open_fire() # Put up shield if no good enemy. XOR operation: if id_valid(self.idE) == ai.selfShield(): ai.shield()
def act(self): angle = ai.enemyHeadingDeg(self.idE) pos = np.array( [ai.screenEnemyXId(self.idE), ai.screenEnemyYId(self.idE)]) vel = ai.enemySpeedId(self.idE) * np.array( [np.cos(angle), np.sin(angle)]) self.target = pos - vel * self.K self.open_fire() # Put up shield if no good enemy. XOR operation: if id_valid(self.idE) == ai.selfShield(): ai.shield()
def AI_loop(): #Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) #Set variables heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) frontWall = ai.wallFeeler(500,heading) left45Wall = ai.wallFeeler(500,heading+45) right45Wall = ai.wallFeeler(500,heading-45) left90Wall = ai.wallFeeler(500,heading+90) right90Wall = ai.wallFeeler(500,heading-90) left135Wall = ai.wallFeeler(500,heading+135) right135Wall = ai.wallFeeler(500,heading-135) backWall = ai.wallFeeler(500,heading-180) trackWall = ai.wallFeeler(500,tracking) result_list = [] risk_list = [] for i in range(8): Degree = tracking+(45*i) Speed = ai.selfSpeed() Distance = ai.wallFeeler(10000,tracking+(45*i)) result = Closing_Rate(Degree, tracking, Speed, Distance) result_list.append(result) ### Fuzzy membership ### closing_rate, distance = Closing_Rate(Degree, tracking, Speed, Distance) low, medium, fast = Fuzzy_Speed(closing_rate) close, far = Fuzzy_Distance(distance) risk = Fuzzy_Risk(low, medium, fast, close, far) risk_list.append(risk) ## Get the direction in deg that is most risky for the robot ## max_risk = max(risk_list) track_risk = (tracking + (risk_list.index(max_risk)*45) % 360) min_risk = min(risk_list) ####### Shooting Ennemies ######## ##Find the closest ennemy## ClosestID = ai.closestShipId() #print(ClosestID) ##Get the closest ennemy direction and speed## ClosestSpeed = ai.enemySpeedId(ClosestID) ClosestDir = ai.enemyTrackingDegId(ClosestID) ## Get the lockheadingdeg ## enemy = ai.lockClose() #print(enemy) head = ai.lockHeadingDeg() #print(head) enemyDist = ai.selfLockDist() #print(enemyDist, ClosestSpeed, ClosestDir, head) int1, int2, int3, int4, int5 = Data(enemyDist, ClosestSpeed, ClosestDir, head, heading, tracking) output = Out(int1, int2, int3, int4, int5) #print(output) if(output > 0.5): addDeg = output * 20 else: addDeg = (output -0.5) * 20 * -1 ## Get the angles on both side between tracking and heading ## dist = (heading - track_risk) % 360 dist2 = (360 - dist) % 360 ## Production system rules based off fuzzy output ## if(dist <= 130 and dist >= 0 and ai.selfSpeed() > 0 and max_risk >= 75): ai.turnLeft(1) #print("turning left") elif(dist2 <= 130 and dist2 >= 0 and ai.selfSpeed() > 0 and max_risk >= 75): ai.turnRight(1) #print("turning right") elif(ai.selfSpeed() <= 10): ai.thrust(1) #print("thrust") elif(trackWall <= 150): ai.thrust(1) #print("thrust") elif(enemyDist <= 400 and heading > (head) and enemyDist != 0): ai.turnRight(1) ai.fireShot() elif(enemyDist <= 400 and heading < (head) and enemyDist != 0): ai.turnLeft(1) ai.fireShot() elif(enemyDist > 400 and heading > (head + addDeg) and enemyDist != 0): ai.turnRight(1) ai.fireShot() elif(enemyDist > 400 and heading < (head + addDeg) and enemyDist != 0): ai.turnLeft(1) ai.fireShot() else: #print("chilling") ai.thrust(0) ai.fireShot()
def AI_loop(): #Release keys ai.thrust(0) ai.turnLeft(0) ai.turnRight(0) #Set variables heading = int(ai.selfHeadingDeg()) tracking = int(ai.selfTrackingDeg()) frontWall = ai.wallFeeler(500, heading) left45Wall = ai.wallFeeler(500, heading + 45) right45Wall = ai.wallFeeler(500, heading - 45) left90Wall = ai.wallFeeler(500, heading + 90) right90Wall = ai.wallFeeler(500, heading - 90) left135Wall = ai.wallFeeler(500, heading + 135) right135Wall = ai.wallFeeler(500, heading - 135) backWall = ai.wallFeeler(500, heading - 180) trackWall = ai.wallFeeler(500, tracking) ####### Shooting Ennemies ######## ##Find the closest ennemy## ClosestID = ai.closestShipId() #print(ClosestID) ##Get the closest ennemy direction and speed## ClosestSpeed = ai.enemySpeedId(ClosestID) #print(ClosestSpeed) ClosestDir = ai.enemyTrackingDegId(ClosestID) #print(ClosestDir) ## Get the lockheadingdeg ## enemy = ai.lockNext() print(enemy) head = ai.lockHeadingDeg() print(head) enemyDist = ai.selfLockDist() print(enemyDist) ### Turning Rules ### if frontWall <= 200 and (left45Wall < right45Wall): print("turning right") ai.turnRight(1) elif frontWall <= 200 and (left45Wall > right45Wall): ai.turnLeft(1) elif left90Wall <= 200: print("turning right") ai.turnRight(1) elif right90Wall <= 200: print("turning left") ai.turnLeft(1) ### Thrust commands #### elif ai.selfSpeed() <= 10 and (frontWall >= 200) and ( left45Wall >= 200) and (right45Wall >= 200) and ( right90Wall >= 200) and (left90Wall >= 200) and ( left135Wall >= 50) and (right135Wall >= 50) and (backWall >= 50): print("go forward") ai.thrust(1) elif trackWall < 75 and ai.selfSpeed() >= 10: ai.thrust(1) elif trackWall < 50 and ai.selfSpeed() <= 10: ai.thrust(1) elif backWall <= 75: ai.thrust(1) elif left135Wall <= 75: ai.thrust(1) elif right135Wall <= 75: ai.thrust(1) ##### Shooting Ennemy Commands ##### elif enemyDist <= 500 and heading > (head): ai.turnRight(1) ai.fireShot() elif enemyDist <= 500 and heading < (head): ai.turnLeft(1) ai.fireShot() else: print("chilling") ai.thrust(0)