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)
