def __init__(self, bzrc): self.bzrc = bzrc self.constants = self.bzrc.get_constants() self.commands = [] mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff() self.numoftanks = len(mytanks) self.timeuntilshot = [0]*self.numoftanks self.ismoving = [True]*self.numoftanks # Create Grid of points truepositive = float(self.constants['truepositive']) truenegative = float(self.constants['truenegative']) self.grid = Grid(800, 800, truepositive, truenegative) self.grid.init_window(800, 800) # For PD Control self.old_angle = [0]*self.numoftanks self.old_speed = [0]*self.numoftanks self.sample_radius = 100 self.k = 0.1 self.field = PotentialFieldsCalculator(self.grid, self.sample_radius, 80.0, 0.0, 0.3, 0.45)
class Agent(object): """Class handles all command and control logic for a teams tanks.""" def __init__(self, bzrc): self.bzrc = bzrc self.constants = self.bzrc.get_constants() self.commands = [] mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff() self.numoftanks = len(mytanks) self.timeuntilshot = [0]*self.numoftanks self.ismoving = [True]*self.numoftanks # Create Grid of points truepositive = float(self.constants['truepositive']) truenegative = float(self.constants['truenegative']) self.grid = Grid(800, 800, truepositive, truenegative) self.grid.init_window(800, 800) # For PD Control self.old_angle = [0]*self.numoftanks self.old_speed = [0]*self.numoftanks self.sample_radius = 100 self.k = 0.1 self.field = PotentialFieldsCalculator(self.grid, self.sample_radius, 80.0, 0.0, 0.3, 0.45) def tick(self, time_diff): """Some time has passed; decide what to do next.""" mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff() self.mytanks = mytanks self.commands = [] for tank in mytanks: # update the grid self.grid.update(self.bzrc.get_occgrid(tank.index)) # move self.create_command(tank, time_diff) self.grid.draw_grid() results = self.bzrc.do_commands(self.commands) def create_command(self, tank, time_diff): """Set command to move to given coordinates.""" #pprint (vars(tank)) speed = 1 angvel = 0 shoot = True kp = 1 kd = -.07 if time_diff <= 0: return # get potential field at this location and add to enemy coords x, y = self.field.calculate_potential(tank.x, tank.y) # PD Controller - angle target_angle = math.atan2(y, x) angle_remaining = self.angle_remaining(tank.angle, target_angle) angvel = self.pd_angvel(tank, target_angle, time_diff) if angvel > 1: angvel = 1 elif angvel < -1: angvel = -1 if abs(angle_remaining) <= math.pi / 6: speed = self.pd_speed(tank, x, y, time_diff) else: speed = 1 - abs(angle_remaining / math.pi) if speed > 1: speed = 1.0 elif speed < -1: speed = -1.0 #print "speed", speed #self.printSurrounding(tank.x, tank.y, 3) command = Command(tank.index, speed, angvel, shoot) self.commands.append(command) self.old_angle[tank.index] = tank.angle def printSurrounding(self, x, y, radius): print ':::New Grid:::', x, y surroundingGrid = self.grid.getSurroundings(x, y, radius) for x in range(len(surroundingGrid)): print surroundingGrid[x] def pd_angvel(self, tank, target_angle, time_diff): """PD Controller for the angular velocity of the tank.""" kp = 1.0 kd = -0.2 angle_remaining = self.angle_remaining(tank.angle, target_angle) differential = self.angle_remaining(self.old_angle[tank.index], tank.angle) / time_diff angvel = ( kp * angle_remaining ) + ( kd * differential ) return angvel def pd_speed(self, tank, target_x, target_y, time_diff): """PD Controller for the speed of the tank.""" kp = 1.0 kd = -0.2 x_remaining = target_x - tank.x y_remaining = target_y - tank.y distance_remaining = math.sqrt( ( x_remaining ) ** 2 + ( y_remaining ) ** 2 ) current_speed = math.sqrt( tank.vx ** 2 + tank.vy ** 2 ) differential = current_speed - self.old_speed[tank.index] / time_diff speed = ( kp * distance_remaining ) + ( kd * differential ) return speed def angle_remaining(self, tank_angle, target_angle): """Find the angle remaining (in radians) between the tank and the target.""" tank_angle = self.normalize_angle(tank_angle) target_angle = self.normalize_angle(target_angle) # If the angles are on the same hemisphere, target - tank. if tank_angle * target_angle > 0: return target_angle - tank_angle # Otherwise they are on opposite hemispheres. positive_angle = max(tank_angle, target_angle) negative_angle = min(tank_angle, target_angle) tank_positive = True if tank_angle < 0: tank_positive = False # Compare the angles to turn right and left. right_angle = -1 * ( positive_angle - negative_angle ) left_angle = 2 * math.pi - positive_angle + negative_angle if not tank_positive: temp_angle = -1 * right_angle right_angle = -1 * left_angle left_angle = temp_angle # Pick the smallest angle. if abs(right_angle) <= abs(left_angle): return right_angle return left_angle def normalize_angle(self, angle): """Make any angle be between +/- pi.""" angle -= 2 * math.pi * int (angle / (2 * math.pi)) if angle <= -math.pi: angle += 2 * math.pi elif angle > math.pi: angle -= 2 * math.pi return angle