public void run(double timeincr)
{
//given a time increment do what we can
//where do we want to go?
mode = botMode.tele;
if (distancetogo > 0)
{
distancetogo -= maxSpeed * timeincr;
return; //currently driving
}
if (def != null)
{
//currently trying to breach a defense
//has time elapsed?
defenseTimetogo -= timeincr;
if (defenseTimetogo < 0)
{
if (def.attempt())
{
//success!
field.teleScore += 5;
def = null;
}
else
{
//fail, try again
defenseTimetogo = def.friction;
}
}
}
else
{
destination = strategy.NextLocation(destination);
}
}
//bot actions
//shooter pattern:
// from passage receive ball,
// move to neutral,
// move to X outerworks,
// move to courtyard
// high shooter:
// move to position
// shoot
// low shooter:
// move to batter
// score
// move to courtyaard
// move to outerworks
// move to neutral
// move to passage
public void runAuto(double timeincr)
{
mode = botMode.auto;
if (canAuto == autoAbility.none) return; //sits in auto
if (distancetogo > 0)
{
distancetogo -= maxSpeed * timeincr;
return; //currently driving
}
if (def != null)
{
//currently trying to breach a defense
//has time elapsed?
defenseTimetogo -= timeincr;
if (defenseTimetogo < 0)
{
if (def.attempt())
{
//success!
field.autoScore += 10;
def = null;
}
else
{
//fail, try again
defenseTimetogo = def.friction;
}
}
}
else
{
destination = strategy.NextLocation(destination);
}
}
public Bot(teleAbility kind, autoAbility autoKind, Alliance side)
{
canShoot = kind.HasFlag(teleAbility.shoot);
canClimb = kind.HasFlag(teleAbility.climb);
canBreach = kind.HasFlag(teleAbility.breach);
canAuto = autoKind;
hasBall = true; //let each robot start with a ball
mode = botMode.none;
strategy = new BotStrategy(this);
location.current = fieldLocation.places.neutral;
destination = fieldLocation.places.not_set;
distancetogo = 0;
team = side;
maxSpeed = 5.0; //default to 5 fps
}
public Bot(teleAbility kind, autoAbility autoKind, Alliance side)
{
canShoot = kind.HasFlag(teleAbility.shoot);
canClimb = kind.HasFlag(teleAbility.climb);
canBreach = kind.HasFlag(teleAbility.breach);
canAuto = autoKind;
hasBall = true; //let each robot start with a ball
mode = botMode.none;
strategy = new BotStrategy(this);
location.current = fieldLocation.places.neutral;
destination = fieldLocation.places.not_set;
distancetogo = 0;
team = side;
maxSpeed = 5.0; //default to 5 fps
}
//bot actions
//shooter pattern:
// from passage receive ball,
// move to neutral,
// move to X outerworks,
// move to courtyard
// high shooter:
// move to position
// shoot
// low shooter:
// move to batter
// score
// move to courtyaard
// move to outerworks
// move to neutral
// move to passage
public void runAuto(double timeincr)
{
mode = botMode.auto;
if (canAuto == autoAbility.none)
{
return; //sits in auto
}
if (distancetogo > 0)
{
distancetogo -= maxSpeed * timeincr;
return; //currently driving
}
if (def != null)
{
//currently trying to breach a defense
//has time elapsed?
defenseTimetogo -= timeincr;
if (defenseTimetogo < 0)
{
if (def.attempt())
{
//success!
field.autoScore += 10;
def = null;
}
else
{
//fail, try again
defenseTimetogo = def.friction;
}
}
}
else
{
destination = strategy.NextLocation(destination);
}
}
public void run(double timeincr)
{
//given a time increment do what we can
//where do we want to go?
mode = botMode.tele;
if (distancetogo > 0)
{
distancetogo -= maxSpeed * timeincr;
return; //currently driving
}
if (def != null)
{
//currently trying to breach a defense
//has time elapsed?
defenseTimetogo -= timeincr;
if (defenseTimetogo < 0)
{
if (def.attempt())
{
//success!
field.teleScore += 5;
def = null;
}
else
{
//fail, try again
defenseTimetogo = def.friction;
}
}
}
else
{
destination = strategy.NextLocation(destination);
}
}
