def perform(self, comms):
goal = self.world.our_goal
robots = filter(lambda r: not r.is_missing(), self.world.their_robots)
robots.sort(key=lambda r: math.hypot(r.x - goal.x, r.y - goal.y))
if len(robots) == 0:
logging.error("There is no enemy here. Gimme someone to destroy!")
return 1
robot = robots[0]
cone_upper = math.atan2(goal.x - robot.x, goal.higher_post - robot.y) % (2 * pi)
cone_lower = math.atan2(goal.x - robot.x, goal.lower_post - robot.y) % (2 * pi)
if robot.angle < min(cone_upper, cone_lower) or robot.angle > max(cone_upper, cone_lower):
critical_angle = (cone_upper + cone_lower) / 2
else:
critical_angle = robot.angle
target_rotation = (critical_angle - self.robot.angle + pi / 2) % pi - pi / 2
if (critical_angle - self.robot.angle + pi / 2) % pi - pi / 2 <= 0.6:
target_rotation = 0
dist = utils.defender_get_alignment_offset(self.robot, robot, critical_angle, target_rotation)
logging.info("Aligning with enemy. (Rotate %f degrees, move %f right)", math.degrees(target_rotation), dist)
if abs(dist) > MOVEMENT_THRESHOLD and abs(target_rotation) > ROTATION_THRESHOLD:
comms.turn_then_move(target_rotation, dist)
return utils.defender_turn_delay(target_rotation) + utils.defender_move_delay(dist)
elif abs(dist) > MOVEMENT_THRESHOLD:
comms.move(dist)
return utils.defender_move_delay(dist)
elif abs(target_rotation) > ROTATION_THRESHOLD:
comms.turn(target_rotation)
return utils.defender_turn_delay(target_rotation)
def perform(self, comms):
target_rotation = (self.world.ball.angle - self.robot.angle + pi / 2) % pi - pi / 2
dist = utils.defender_get_alignment_offset(self.robot, self.world.ball, self.world.ball.angle, target_rotation)
logging.info("Aligning with ball. (Rotate %f degrees, move %f right)", math.degrees(target_rotation), dist)
if abs(dist) > MOVEMENT_THRESHOLD:
comms.turn_then_move(target_rotation, dist)
return utils.defender_turn_delay(target_rotation) + utils.defender_move_delay(dist)
else:
comms.turn(target_rotation)
return utils.defender_turn_delay(target_rotation)
def perform(self, comms):
rot_angle = utils.defender_get_rotation_to_catch_point(
Vector(self.robot.x, self.robot.y, self.robot.angle, 0),
utils.get_defence_point(self.world), 0)[0]
logging.info("Facing direction to move to defence area. Rotating %f degrees.", math.degrees(rot_angle))
comms.turn(rot_angle)
return utils.defender_turn_delay(rot_angle)
def perform(self, comms):
x = self.world.ball.x
y = self.world.ball.y
angle = utils.get_rotation_to_point(self.robot.vector, Vector(x, y, 0, 0))
logging.info("Wants to rotate by: " + str(angle))
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
x = self.world.ball.x
y = self.world.ball.y
angle = utils.get_rotation_to_point(self.robot.vector, Vector(x, y, 0, 0))
logging.info("Wants to rotate by: " + str(angle))
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
target_rotation = utils.defender_scan_angle_to_pass_absolute(
self.world, self.robot)
logging.info("Passing ball. (Rotate %f degrees, then kick)",
math.degrees(target_rotation))
comms.turn_then_kick(target_rotation)
self.robot.catcher = 'OPEN'
return 1 + utils.defender_turn_delay(target_rotation)
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(
self.robot.vector, self.world.ball.vector,
self.world.our_goal.vector, GOAL_RADIUS, self.world.our_side)
logging.info("Facing defend point: Rotating %f degrees to %f %f" %
(math.degrees(angle), defend_point.x, defend_point.y))
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
if self.world.our_side == 'left':
target_angle = pi / 2
else:
target_angle = 3 * pi / 2
print target_angle
rot_angle = (target_angle - self.robot.angle + pi) % (2 * pi) - pi
logging.info("Facing opposite pitch side. Rotating %f degrees.", math.degrees(rot_angle))
comms.turn(rot_angle)
return utils.defender_turn_delay(rot_angle)
def perform(self, comms):
global ROTATION_THRESHOLD
logging.info('---- ' + str(ROTATION_THRESHOLD))
x = self.world.ball.x
y = self.world.ball.y
angle = utils.defender_get_rotation_to_catch_point(Vector(self.robot.x, self.robot.y, self.robot.angle, 0), Vector(x, y, 0, 0), self.robot.catch_distance)[0]
logging.info("Wants to rotate by: " + str(angle))
comms.turn(angle)
if ROTATION_THRESHOLD < 0.30:
ROTATION_THRESHOLD += 0.07
return utils.defender_turn_delay(angle)
def perform(self, comms):
logging.info('---- ' + str(ROTATION_THRESHOLD))
x = self.world.ball.x
y = self.world.ball.y
angle = utils.defender_get_rotation_to_catch_point(Vector(self.robot.x, self.robot.y, self.robot.angle, 0), Vector(x, y, 0, 0), self.robot.catch_distance)[0]
logging.info("Wants to rotate by: " + str(angle))
comms.turn(angle)
global ROTATION_THRESHOLD
if ROTATION_THRESHOLD < 0.30:
ROTATION_THRESHOLD += 0.07
return utils.defender_turn_delay(angle)
def perform(self, comms):
target_rotation = utils.defender_scan_angle_to_pass_absolute(self.world, self.robot)
logging.info("Passing ball. (Rotate %f degrees, then kick)", math.degrees(target_rotation))
comms.turn_then_kick(target_rotation)
self.robot.catcher = 'OPEN'
return 1 + utils.defender_turn_delay(target_rotation)
def perform(self, comms):
angle = utils.get_rotation_to_point(self.robot.vector, self.world.ball.vector)
logging.info("Facing ball: Rotating %f" % angle)
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
angle, side, defend_point = utils.defender_rotation_to_defend_point(self.robot.vector, self.world.ball.vector, self.world.our_goal.vector, GOAL_RADIUS, self.world.our_side)
logging.info("Facing defend point: Rotating %f degrees to %f %f" % (math.degrees(angle), defend_point.x, defend_point.y))
comms.turn(angle)
return utils.defender_turn_delay(angle)
def perform(self, comms):
angle = utils.get_rotation_to_point(self.robot.vector,
self.world.ball.vector)
logging.info("Facing ball: Rotating %f" % angle)
comms.turn(angle)
return utils.defender_turn_delay(angle)
