//public override void play()
// {
// //////////// Goal Keeper //////////////
// // GoToPosition( (float)-52.5, (float) 0.0);
// ///////////////////////////////////////
// //GoToPosition(m_startPosition.X, m_startPosition.Y);
// SeenObject obj;
// while (!m_timeOver)
// {
// var currentPosition = m_coach.GetMyPos(PlayerNumber);
// if (currentPosition != null)
// {
// // check if we are in borders
// if (!m_borders.IsInBorders(currentPosition.Pos.Value))
// {
// GoToPosition(m_startPosition.X, m_startPosition.Y);
// }
// }
// //else
// //{
// // continue;
// //}
// //var ballPosition = m_coach.GetBall();
// //if (ballPosition != null)
// //{
// // // check if ball is in borders
// // if (m_borders.IsInBorders(ballPosition.Pos.Value))
// // {
// // var bodyInfo = GetBodyInfo();
// // obj = m_memory.GetSeenObject("ball");
// // if (obj == null)
// // {
// // // If you don't know where is ball then find it
// // m_robot.Turn(40);
// // m_memory.waitForNewInfo();
// // }
// // //else if (obj.Distance.Value > 1.5)
// // else if (obj.Distance.Value > 1.0)
// // {
// // // If ball is too far then
// // // turn to ball or
// // // if we have correct direction then go to ball
// // if (obj.Direction.Value != 0)
// // m_robot.Turn(obj.Direction.Value);
// // else
// // m_robot.Dash(10 * obj.Distance.Value);
// // }
// // else
// // {
// // // We know where is ball and we can kick it
// // // so look for goal
// // if (m_side == 'l')
// // obj = m_memory.GetSeenObject("goal r");
// // else
// // obj = m_memory.GetSeenObject("goal l");
// // if (obj == null)
// // {
// // m_robot.Turn(40);
// // m_memory.waitForNewInfo();
// // }
// // else
// // m_robot.Kick(200, obj.Direction.Value);
// // }
// // // sleep one step to ensure that we will not send
// // // two commands in one cycle.
// // try
// // {
// // Thread.Sleep(2 * SoccerParams.simulator_step);
// // }
// // catch (Exception e)
// // {
// // }
// // //if (LogicCalc.GetDistance(currentPosition.Pos.Value.X, currentPosition.Pos.Value.Y, ballPosition.Pos.Value.X, ballPosition.Pos.Value.Y) < 1.5)
// // //{
// // // var obj = m_memory.GetSeenObject("goal r");
// // // if (obj == null)
// // // {
// // // m_robot.Turn(40);
// // // m_memory.waitForNewInfo();
// // // }
// // // else
// // // m_robot.Kick(200, obj.Direction.Value);
// // //}
// // //else
// // //{
// // // GoToPosition(ballPosition.Pos.Value.X, ballPosition.Pos.Value.Y);
// // //}
// // }
// //}
// //// m_robot.Dash(PlayerNumber);
// //m_robot.Turn(30);
// // }
// // }
public override void play()
{
SeenObject obj;
// First go to start position
GoToPosition(m_startPosition.X, m_startPosition.Y);
while (!m_timeOver)
{
// Get ball position from coach
var ballPosition = m_coach.GetBall();
if (ballPosition == null) // No ball position
{
continue;
}
else
{
if (!m_borders.IsInBorders(ballPosition.Pos.Value))
{
continue; // Ball is not in borders
}
}
var bodyInfo = GetBodyInfo();
obj = m_memory.GetSeenObject("ball");
if (obj == null)
{
// If you don't know where is ball then find it
if (stuckCounter > 8)
{
stuckCounter = 0;
if (obj != null)
{
m_robot.Turn(180 - obj.Direction.Value);
}
m_robot.Dash(200);
}
else
{
stuckCounter++;
m_robot.Turn(45);
m_memory.waitForNewInfo();
}
}
//else if (obj.Distance.Value > 1.5)
else if (obj.Distance.Value > 1.0)
{
// If ball is too far then
// turn to ball or
// if we have correct direction then go to ball
if (obj.Direction.Value != 0)
{
m_robot.Turn(obj.Direction.Value);
}
else
{
m_robot.Dash(10 * obj.Distance.Value);
}
}
else
{
// We know where is ball and we can kick it
// so look for goal
if (m_side == 'l')
{
obj = m_memory.GetSeenObject("goal r");
}
else
{
obj = m_memory.GetSeenObject("goal l");
}
if (obj == null)
{
m_robot.Turn(41);
m_memory.waitForNewInfo();
}
else
{
m_robot.Kick(200, obj.Direction.Value);
}
}
var currentPosition = m_coach.GetMyPos(PlayerNumber);
if (currentPosition != null)
{
// check if we are in borders
if (!m_borders.IsInBorders(currentPosition.Pos.Value))
{
GoToPosition(m_startPosition.X, m_startPosition.Y);
}
}
else
{
continue;
}
// sleep one step to ensure that we will not send
// two commands in one cycle.
try
{
Thread.Sleep(2 * SoccerParams.simulator_step);
}
catch (Exception e)
{
}
}
}
public override void play()
{
if (m_side == 'r')
{
m_borders.chageSide((float)-1); //fix borders acording to side
m_startPosition.X = m_startPosition.X * -1;
}
// First go to start position
GoToPosition(m_startPosition.X, m_startPosition.Y);
while (!m_timeOver)
{
try
{
//var memory = m_memory.getBodyInfo();
//if (memory != null)
// Console.WriteLine("PLayer: " + m_number + ", " + memory.StaminaValue);
// Get ball position from coach
var coachBall = m_coach.GetBall();
if (coachBall == null)
{
// No ball position
}
else
{
if (!m_borders.IsInBorders(coachBall.Pos.Value))
{
// Ball is not in borders
// Go To start position TODO: something else
GoToPosition(m_startPosition.X, m_startPosition.Y);
}
else
{
var bodyInfo = GetBodyInfo();
var myBall = m_memory.GetSeenObject("ball");
if (myBall == null)
{
// If you don't know where is ball then find it
var angel = GetAngleToPoint(coachBall.Pos.Value);
m_robot.Turn(angel);
}
else if (myBall.Distance.Value > 1.3)
{
// If ball is too far then
// turn to ball or
// if we have correct direction then go to ball
//if (obj.Direction.Value != 0)
if (myBall.Direction.Value > 20)
{
m_robot.Turn(myBall.Direction.Value);
}
else
{
m_robot.Dash(10 * myBall.Distance.Value);
}
}
else
{
// We know where is ball and we can kick it
// so look for goal
if (m_side == 'l')
{
var goalR = m_memory.GetSeenObject("goal r");
if (goalR != null && goalR.Distance.Value > 20)
{
Kick(FieldLocations.RightLine, 0, 30); // TODO: kick forward
}
else
{
Kick(FieldLocations.RightLine, 0, 100); // TODO: kick to angel
}
}
else
{
var goalL = m_memory.GetSeenObject("goal l");
if (goalL != null && goalL.Distance.Value > 20)
{
Kick(FieldLocations.LeftLine, 0, 30); // TODO: kick forward
}
else
{
Kick(FieldLocations.LeftLine, 0, 100); // TODO: kick to angel
}
}
}
}
}
}
catch (Exception e)
{
}
// sleep one step to ensure that we will not send
// two commands in one cycle.
try
{
Thread.Sleep(2 * SoccerParams.simulator_step);
}
catch (Exception e)
{
}
}
}
