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):
dist = utils.defender_get_alignment_offset(self.robot, self.world.ball, self.world.ball.angle)
logging.info("Aligning with ball. (Move %f right)", dist)
if abs(dist) > MOVEMENT_THRESHOLD:
comms.move(dist)
return utils.defender_move_delay(dist)
