Esempio n. 1
0
        //public void ActionAssignments(SSL_WrapperPacket packet)
        //{
        //    if (repo.Configuration.IsBlueTeam)
        //    {
        //        if (Closest_Blue_Distance < Closest_Yellow_Distance)
        //        {
        //            MakeFreeSpace(packet, repo.Configuration.IsBlueTeam);
        //            Block_Line_of_Sight(packet, repo.Configuration.IsBlueTeam);
        //            if (false)//GoalInSight(packet, repo.Configuration.IsBlueTeam))
        //            {
        //                GoNearandRotate(packet, true, 300, new IRobotInfo(3025, 0, 0));
        //            }
        //            else
        //            {
        //                CheckandPass(packet, repo.Configuration.IsBlueTeam);
        //            }
        //        }
        //        else
        //        {
        //            Block_Attacker(packet, repo.Configuration.IsBlueTeam);
        //            //if (Goal_in_Sight(ref packet, 2))
        //            //{
        //            //    Shoot_at_Goal(2);
        //            //}
        //            //else
        //            //{
        //            //    Pass(2);
        //            //}
        //            Mark_Opp_Attack_Support(packet, repo.Configuration.IsBlueTeam);
        //            Block_Line_of_Sight(packet, repo.Configuration.IsBlueTeam);
        //        }
        //    }
        //    else
        //    {
        //        if (Closest_Blue_Distance < Closest_Yellow_Distance)
        //        {
        //            Block_Attacker(packet, repo.Configuration.IsBlueTeam);
        //            GoalInSight(packet, repo.Configuration.IsBlueTeam);
        //            //{
        //            //    temp(packet, Attacker_Blue);
        //            //}
        //            //else
        //            //{
        //            //    Pass(1);
        //            //}
        //            Mark_Opp_Attack_Support(packet, repo.Configuration.IsBlueTeam);
        //            Block_Line_of_Sight(packet, repo.Configuration.IsBlueTeam);
        //        }
        //        else
        //        {
        //            MakeFreeSpace(packet, repo.Configuration.IsBlueTeam);
        //            Block_Line_of_Sight(packet, repo.Configuration.IsBlueTeam);
        //            if (true)
        //            {
        //                GoNearandRotate(packet, true, 300, new IRobotInfo(-3025, 0, 0));
        //            }
        //            //else
        //            //{
        //            //    Pass(2);
        //            //}
        //        }
        //    }
        //}
        public bool GoalInSight(SSL_WrapperPacket packet, bool IsBlue)
        {
            float slope1, slope2, tmp_slope, width = 350;
            PointF tmp_Point = new PointF(0, 0);
            List<float> slopes = new List<float>();
            List<float> slopes2 = new List<float>();
            List<int> IDs = new List<int>();
            List<PointF> Points = new List<PointF>();
            List<PointF> Final_Points = new List<PointF>();
            if (IsBlue)
            {
                slope1 = (OppGoal.Y + width - packet.detection.robots_blue[OwnAttackerId].y) / (OppGoal.X - packet.detection.robots_blue[OwnAttackerId].x);
                slope2 = (OppGoal.Y - width - packet.detection.robots_blue[OwnAttackerId].y) / (OppGoal.X - packet.detection.robots_blue[OwnAttackerId].x);
                for (int i = 0; i < 6; i++)
                {
                    if (packet.detection.robots_blue[OwnAttackerId].x - packet.detection.robots_yellow[i].x > 0)
                    {
                        tmp_slope = (packet.detection.robots_blue[OwnAttackerId].y - packet.detection.robots_yellow[i].y) / (packet.detection.robots_blue[OwnAttackerId].x - packet.detection.robots_yellow[i].x);
                        slopes.Add(tmp_slope);
                        IDs.Add(i);
                    }
                }
                slopes.Sort();
                //MessageBox.Show("**");
                for (int i = 0; i < slopes.Count; i++)
                {
                    //MessageBox.Show(i.ToString());
                    //MessageBox.Show(slopes.Count.ToString());
                    if (slopes.Count == 0)
                        break;
                    tmp_slope = -1 / slopes[i];
                    if (float.IsInfinity(tmp_slope))
                        tmp_slope = 71;

                    double ratio = 0.1666666;
                    float x = 0, y = 0;
                    while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 70)
                    {
                        if (Math.Abs(tmp_slope) > 8)
                        {
                            x = (float)(x + ratio);
                            y = (float)(y + ratio * tmp_slope);
                        }
                        else
                        {

                            x += 1;
                            y = y + tmp_slope;
                        }
                    }
                    tmp_Point.X = packet.detection.robots_yellow[IDs[i]].x + x;
                    tmp_Point.Y = packet.detection.robots_yellow[IDs[i]].y + y;
                    Points.Add(tmp_Point);

                    x = 0;
                    y = 0;
                    while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 70)
                    {
                        if (Math.Abs(tmp_slope) > 8)
                        {
                            x = (float)(x - ratio);
                            y = (float)(y - ratio * tmp_slope);
                        }
                        else
                        {
                            x -= 1;
                            y = y - tmp_slope;
                        }
                    }
                    tmp_Point.X = packet.detection.robots_yellow[IDs[i]].x + x;
                    tmp_Point.Y = packet.detection.robots_yellow[IDs[i]].y + y;
                    Points.Add(tmp_Point);
                }
                for (int i = 0; i < Points.Count; i += 2)
                {
                    if (Points.Count == 0)
                        break;
                    if (Points[i].Y < Points[i + 1].Y)
                    {
                        tmp_Point = Points[i + 1];
                        Points[i + 1] = Points[i];
                        Points[i] = tmp_Point;
                    }
                }
                slopes.Clear();
                for (int i = 0; i < Points.Count; i++)
                {
                    if (Points.Count == 0)
                        break;
                    tmp_slope = (packet.detection.robots_blue[OwnAttackerId].y - Points[i].Y) / (packet.detection.robots_blue[OwnAttackerId].x - Points[i].X);
                    slopes.Add(tmp_slope);
                }
                Points.Clear();
                for (int i = 0; i < slopes.Count; i += 2)
                {
                    tmp_Point.X = OppGoal.X;
                    tmp_Point.Y = slopes[i] * (OppGoal.X - packet.detection.robots_blue[OwnAttackerId].x) + packet.detection.robots_blue[OwnAttackerId].y;
                    Points.Add(tmp_Point);
                    tmp_Point.X = OppGoal.X;
                    tmp_Point.Y = slopes[i + 1] * (OppGoal.X - packet.detection.robots_blue[OwnAttackerId].x) + packet.detection.robots_blue[OwnAttackerId].y;
                    Points.Add(tmp_Point);
                }
                //MessageBox.Show("**");
                for (int i = 0; i < Points.Count; i++)
                {
                    //MessageBox.Show(Points[i].X.ToString() + " " + Points[i].Y.ToString() + " " + i.ToString());
                    tmp_Point.X = 3025;
                    if (Points[i].Y < (OppGoal.Y - 350))
                    {
                        tmp_Point.Y = -350;
                        Points[i] = tmp_Point;
                    }
                    if (Points[i].Y > (OppGoal.Y + 350))
                    {
                        tmp_Point.Y = 350;
                        Points[i] = tmp_Point;
                    }
                }

                for (int i = 0; i < Points.Count; i += 2)
                {
                    if ((Points[i].Y > 350 && Points[i + 1].Y > 350) || (Points[i].Y < -350 && Points[i + 1].Y < -350))
                    {
                        Points.RemoveAt(i);
                        Points.RemoveAt(i + 1);
                    }
                }

                for (int i = 0; i < Points.Count; i++)
                {
                    for (int j = 0; j < Points.Count; j += 2)
                    {
                        if (Points[i].Y < Points[j].Y && Points[i].Y > Points[j + 1].Y)
                        {
                            if (i % 2 == 0)
                            {
                                tmp_Point.Y = Points[j].Y;
                                Points[i] = tmp_Point;
                                if (Points[i + 1].Y > Points[j + 1].Y)
                                {
                                    tmp_Point.Y = Points[j + 1].Y;
                                    Points[i + 1] = tmp_Point;
                                }
                                else
                                {
                                    tmp_Point.Y = Points[i + 1].Y;
                                    Points[j + 1] = tmp_Point;
                                }
                            }
                            else
                            {
                                tmp_Point.Y = Points[j + 1].Y;
                                Points[i] = tmp_Point;
                                if (Points[i - 1].Y < Points[j].Y)
                                {
                                    tmp_Point.Y = Points[j].Y;
                                    Points[i - 1] = tmp_Point;
                                }
                                else
                                {
                                    tmp_Point.Y = Points[i - 1].Y;
                                    Points[j] = tmp_Point;
                                }
                            }
                        }
                    }
                }
                for (int i = 0; i < Points.Count; i++)
                {
                    tmp_Point.Y = 0;
                    if (i == 0)
                    {
                        Final_Points.Add(Points[i]);
                    }
                    for (int j = 0; j < Final_Points.Count; j++)
                    {
                        if (Points[i] == Final_Points[j])
                        {
                            tmp_Point.Y = 1;
                        }
                    }
                    if (tmp_Point.Y == 0)
                    {
                        Final_Points.Add(Points[i]);
                    }
                }
                float max_dist = 0;
                float tmp_dist = 0;
                for (int i = 0; i < Final_Points.Count; i++)
                {
                    if (i == 0)
                    {
                        tmp_dist = OppGoal.Y + 350 - Final_Points[i].Y;
                        max_dist = tmp_dist;
                        tmp_Point.Y = (OppGoal.Y + 350 + Final_Points[i].Y) / 2;
                    }
                    else
                    {
                        if (i == Final_Points.Count - 1)
                        {
                            tmp_dist = Math.Abs(OppGoal.Y - 350 - Final_Points[i].Y);
                            if (tmp_dist > max_dist)
                            {
                                max_dist = tmp_dist;
                                tmp_Point.Y = (OppGoal.Y - 350 + Final_Points[i].Y) / 2;
                            }
                        }
                        else
                        {
                            if (i % 2 == 0)
                            {
                                continue;
                            }
                            else
                            {
                                tmp_dist = Math.Abs(Final_Points[i].Y - Final_Points[i + 1].Y);
                                if (tmp_dist > max_dist)
                                {
                                    max_dist = tmp_dist;
                                    tmp_Point.Y = (Final_Points[i].Y + Final_Points[i + 1].Y) / 2;
                                }
                            }
                        }
                    }
                }
                //MessageBox.Show(tmp_Point.X.ToString() + " " + tmp_Point.Y.ToString());
                if (max_dist >= 50)
                {
                    ShootingAngle = (float)Math.Atan2(packet.detection.robots_blue[OwnAttackerId].y - tmp_Point.Y, packet.detection.robots_blue[OwnAttackerId].x - 0);
                    return true;
                }
                else
                    return false;
            }
            else
            {
                return true;
            }
        }
Esempio n. 2
0
        public void Block_Line_of_Sight(SSL_WrapperPacket packet, bool IsBlue)
        {
            if (IsBlue)
            {
                if (packet.detection.balls[0].x > -3025)
                {
                    List<float> slopes = new List<float>();
                    IRobotInfo[] final_points = new IRobotInfo[3];
                    List<IRobotInfo> points_goal = new List<IRobotInfo>();
                    List<float> final_angles = new List<float>();
                    int point_with_small_y = 0, point_with_big_y = 2;
                    IRobotInfo tmp_point = new RobotParameters(-3025, 0, 0);
                    tmp_point.Y = -232;
                    points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
                    tmp_point.Y = 0;
                    points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
                    tmp_point.Y = 232;
                    points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
                    slopes.Add((OwnGoal.Y - 232 - packet.detection.balls[0].y) / (OwnGoal.X - packet.detection.balls[0].x));
                    slopes.Add((OwnGoal.Y + 0 - packet.detection.balls[0].y) / (OwnGoal.X - packet.detection.balls[0].x));
                    slopes.Add((OwnGoal.Y + 232 - packet.detection.balls[0].y) / (OwnGoal.X - packet.detection.balls[0].x));
                    float x = 0, y = 0;
                    double ratio = 0.1666666666;
                    for (int i = 0; i < 3; i++)
                    {
                        if (float.IsInfinity(slopes[i]))
                            slopes[i] = 300;

                        if (i == 1)
                        {
                            while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 375)
                            {
                                if (slopes[i] > 9)
                                {
                                    x = (float)(x + ratio);
                                    y = (float)(y + ratio * slopes[i]);
                                }
                                else
                                {
                                    x = x + 1;
                                    y = y + slopes[i];
                                }
                            }
                        }
                        else
                        {
                            while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 800)
                            {
                                if (slopes[i] > 9)
                                {
                                    x = (float)(x + ratio);
                                    y = (float)(y + ratio * slopes[i]);
                                }
                                else
                                {
                                    x = x + 1;
                                    y = y + slopes[i];
                                }
                            }
                        }

                        tmp_point.X = points_goal[i].X + x;
                        tmp_point.Y = points_goal[i].Y + y;
                        final_points[i] = Common.Statics.DeepClone<IRobotInfo>(tmp_point);
                        x = 0;
                        y = 0;
                    }

                    final_angles.Add((float)Math.Atan2(OwnGoal.Y - 232 - packet.detection.balls[0].y, OwnGoal.X - packet.detection.balls[0].x));
                    final_angles.Add((float)Math.Atan2(OwnGoal.Y - 0 - packet.detection.balls[0].y, OwnGoal.X - packet.detection.balls[0].x));
                    final_angles.Add((float)Math.Atan2(OwnGoal.Y + 232 - packet.detection.balls[0].y, OwnGoal.X - packet.detection.balls[0].x));

                    for (int i = 0; i < 3; i++)
                    {
                        final_angles[i] += (float)Math.PI;
                        final_points[i].W = final_angles[i];
                    }

                    if (final_points[2].Y < final_points[0].Y)
                    {
                        point_with_small_y = 2;
                        point_with_big_y = 0;
                    }

                    if (packet.detection.robots_blue[OwnDefender1Id].y < packet.detection.robots_blue[OwnDefender2Id].y)
                    {
                        repo.OutData[OwnDefender1Id].X = final_points[point_with_small_y].X;
                        repo.OutData[OwnDefender1Id].Y = final_points[point_with_small_y].Y;
                        repo.OutData[OwnDefender1Id].W = final_points[point_with_small_y].W;
                        //DataHandler.WriteReference(final_points[point_with_small_y], Defender1_Blue);
                        repo.OutData[OwnGoalkeeperId].X = final_points[1].X;
                        repo.OutData[OwnGoalkeeperId].Y = final_points[1].Y;
                        repo.OutData[OwnGoalkeeperId].W = final_points[1].W;
                        //DataHandler.WriteReference(final_points[1], GoalKeeper_Blue_id);
                        repo.OutData[OwnDefender2Id].X = final_points[point_with_big_y].X;
                        repo.OutData[OwnDefender2Id].Y = final_points[point_with_big_y].Y;
                        repo.OutData[OwnDefender2Id].W = final_points[point_with_big_y].W;
                        //DataHandler.WriteReference(final_points[point_with_big_y], Defender2_Blue);
                    }
                    else
                    {
                        repo.OutData[OwnDefender1Id].X = final_points[point_with_big_y].X;
                        repo.OutData[OwnDefender1Id].Y = final_points[point_with_big_y].Y;
                        repo.OutData[OwnDefender1Id].W = final_points[point_with_big_y].W;
                        //DataHandler.WriteReference(final_points[point_with_big_y], Defender1_Blue);
                        repo.OutData[OwnGoalkeeperId].X = final_points[1].X;
                        repo.OutData[OwnGoalkeeperId].Y = final_points[1].Y;
                        repo.OutData[OwnGoalkeeperId].W = final_points[1].W;
                        //DataHandler.WriteReference(final_points[1], GoalKeeper_Blue_id);
                        repo.OutData[OwnDefender2Id].X = final_points[point_with_small_y].X;
                        repo.OutData[OwnDefender2Id].Y = final_points[point_with_small_y].Y;
                        repo.OutData[OwnDefender2Id].W = final_points[point_with_small_y].W;
                        //DataHandler.WriteReference(final_points[point_with_small_y], Defender2_Blue);
                    }

                    //if(Distance(packet.detection.robots_blue[Defender1_Blue].x,final_points[0].x,packet.detection.robots_blue[Defender1_Blue].y,final_points[0].y) < Distance(packet.detection.robots_blue[Defender2_Blue].x,final_points[0].x,

                    //rebuff = Defender1_Blue.ToString() + Environment.NewLine + final_points[0].x.ToString() + " " + final_points[0].y.ToString() + " " + final_points[0].w.ToString() +
                    //    Environment.NewLine + GoalKeeper_Blue_id.ToString() + Environment.NewLine + final_points[1].x.ToString() + " " + final_points[1].y.ToString() + " " + final_points[1].w.ToString() +
                    //    Environment.NewLine + Defender2_Blue.ToString() + Environment.NewLine + final_points[2].x.ToString() + " " + final_points[2].y.ToString() + " " + final_points[2].w.ToString();

                }
            }
            else
            {
                if (packet.detection.balls[0].x < 3025)
                {
                    List<float> slopes = new List<float>();
                    IRobotInfo[] final_points = new IRobotInfo[3];
                    List<IRobotInfo> points_goal = new List<IRobotInfo>();
                    List<float> final_angles = new List<float>();
                    int point_with_small_y = 0, point_with_big_y = 2;
                    IRobotInfo tmp_point = new RobotParameters(3025, 0, 0);
                    tmp_point.Y = -232;
                    points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
                    tmp_point.Y = 0;
                    points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
                    tmp_point.Y = 232;
                    points_goal.Add(Statics.DeepClone<IRobotInfo>(tmp_point));
                    slopes.Add((OppGoal.Y - 232 - packet.detection.balls[0].y) / (OppGoal.X - packet.detection.balls[0].x));
                    slopes.Add((OppGoal.Y + 0 - packet.detection.balls[0].y) / (OppGoal.X - packet.detection.balls[0].x));
                    slopes.Add((OppGoal.Y + 232 - packet.detection.balls[0].y) / (OppGoal.X - packet.detection.balls[0].x));
                    float x = 0, y = 0;
                    double ratio = 0.1666666666;
                    for (int i = 0; i < 3; i++)
                    {
                        if (float.IsInfinity(slopes[i]))
                            slopes[i] = 300;
                        if (i == 1)
                        {
                            while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 375)
                            {
                                if (slopes[i] > 9)
                                {
                                    x = (float)(x - ratio);
                                    y = (float)(y - ratio * slopes[i]);
                                }
                                else
                                {
                                    x = x - 1;
                                    y = y - slopes[i];
                                }
                            }
                        }
                        else
                        {
                            while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 800)
                            {
                                if (slopes[i] > 9)
                                {
                                    x = (float)(x - ratio);
                                    y = (float)(y - ratio * slopes[i]);
                                }
                                else
                                {
                                    x = x - 1;
                                    y = y - slopes[i];
                                }
                            }
                        }

                        tmp_point.X = points_goal[i].X + x;
                        tmp_point.Y = points_goal[i].Y + y;
                        final_points[i] = Statics.DeepClone<IRobotInfo>(tmp_point);
                        x = 0;
                        y = 0;

                    }

                    final_angles.Add((float)Math.Atan2(OppGoal.Y - 232 - packet.detection.balls[0].y, OppGoal.X - packet.detection.balls[0].x));
                    final_angles.Add((float)Math.Atan2(OppGoal.Y - 0 - packet.detection.balls[0].y, OppGoal.X - packet.detection.balls[0].x));
                    final_angles.Add((float)Math.Atan2(OppGoal.Y + 232 - packet.detection.balls[0].y, OppGoal.X - packet.detection.balls[0].x));

                    for (int i = 0; i < 3; i++)
                    {
                        final_angles[i] += (float)Math.PI;
                        final_points[i].W = final_angles[i];
                    }

                    if (final_points[2].Y < final_points[0].Y)
                    {
                        point_with_small_y = 2;
                        point_with_big_y = 0;
                    }

                    if (packet.detection.robots_yellow[OppDefender1Id].y < packet.detection.robots_yellow[OppDefender2Id].y)
                    {
                        repo.OutData[OppDefender1Id].X = final_points[point_with_small_y].X;
                        repo.OutData[OppDefender1Id].Y = final_points[point_with_small_y].Y;
                        repo.OutData[OppDefender1Id].W = final_points[point_with_small_y].W;
                        //DataHandler.WriteReference(final_points[point_with_small_y], Defender1_Yellow);
                        repo.OutData[OppGoalkeeperId].X = final_points[1].X;
                        repo.OutData[OppGoalkeeperId].Y = final_points[1].Y;
                        repo.OutData[OppGoalkeeperId].W = final_points[1].W;
                        //DataHandler.WriteReference(final_points[1], GoalKeeper_Yellow_id);
                        repo.OutData[OppDefender2Id].X = final_points[point_with_big_y].X;
                        repo.OutData[OppDefender2Id].Y = final_points[point_with_big_y].Y;
                        repo.OutData[OppDefender2Id].W = final_points[point_with_big_y].W;
                        //DataHandler.WriteReference(final_points[point_with_big_y], Defender2_Yellow);
                    }
                    else
                    {
                        repo.OutData[OppDefender1Id].X = final_points[point_with_big_y].X;
                        repo.OutData[OppDefender1Id].Y = final_points[point_with_big_y].Y;
                        repo.OutData[OppDefender1Id].W = final_points[point_with_big_y].W;
                        //DataHandler.WriteReference(final_points[point_with_big_y], Defender1_Yellow);
                        repo.OutData[OppGoalkeeperId].X = final_points[1].X;
                        repo.OutData[OppGoalkeeperId].Y = final_points[1].Y;
                        repo.OutData[OppGoalkeeperId].W = final_points[1].W;
                        //DataHandler.WriteReference(final_points[1], GoalKeeper_Yellow_id);
                        repo.OutData[OppDefender2Id].X = final_points[point_with_small_y].X;
                        repo.OutData[OppDefender2Id].Y = final_points[point_with_small_y].Y;
                        repo.OutData[OppDefender2Id].W = final_points[point_with_small_y].W;
                        //DataHandler.WriteReference(final_points[point_with_small_y], Defender2_Yellow);
                    }
                }
                //tb_private.Text += "Yellow Defender1 ID " + Defender1_Yellow + " and " + "Yellow Defender2 ID " + Defender2_Yellow + " blocking the goal " + "\r\n";
            }
            //Use Defender1_Yellow and Defender2_Support_Yellow for team 2 and Defender1_Blue and Defender2_Support_Blue for team 1.
        }
Esempio n. 3
0
        public void CheckandPass(SSL_WrapperPacket packet, bool IsBlue)
        {
            IRobotInfo roboinfo = RobotToIRobotInfo(repo.InData.Own(OwnAttackerId));
            IRobotInfo roboinfo2 = RobotToIRobotInfo(repo.InData.Own(OwnAttackSupportId));
            if (roboinfo.XVelocity <= 0.005 && roboinfo.YVelocity <= 0.005 && roboinfo.WVelocity <= 0.005 && roboinfo2.XVelocity <= 0.005 && roboinfo2.YVelocity <= 0.005 && roboinfo2.WVelocity < 0.005)
            {
                bool go_support = true;
                if (IsBlue)
                {
                    IRobotInfo[] pts = TrianglePoints(packet, PassCalculation(RobotToIRobotInfo(packet.detection.robots_blue[OwnAttackSupportId]), new RobotParameters(packet.detection.balls[0].x, packet.detection.balls[0].y, 0), 50), OwnAttackSupportId, repo.Configuration.IsBlueTeam);
                    foreach (SSL_DetectionRobot robot in packet.detection.robots_yellow)
                        if (TriangleTest(pts[0], pts[1], RobotToIRobotInfo(packet.detection.robots_blue[OwnAttackSupportId]), RobotToIRobotInfo(robot)))
                        {
                            go_support = false;
                            break;
                        }

                    if (go_support)
                    {
                        GoNearandRotate(packet, repo.Configuration.IsBlueTeam, 300, RobotToIRobotInfo(packet.detection.robots_blue[OwnAttackSupportId]));
                    }
                    else
                    {
                        go_support = true;
                        pts = TrianglePoints(packet, PassCalculation(RobotToIRobotInfo(packet.detection.robots_blue[OwnFreeRoleId]), new RobotParameters(packet.detection.balls[0].x, packet.detection.balls[0].y, 0), 50), OwnFreeRoleId, repo.Configuration.IsBlueTeam);
                        foreach (SSL_DetectionRobot robot in packet.detection.robots_yellow)
                        {
                            if (TriangleTest(pts[0], pts[1], RobotToIRobotInfo(packet.detection.robots_blue[OwnFreeRoleId]), RobotToIRobotInfo(robot)))
                            {
                                go_support = false;
                                break;
                            }
                        }
                        if (go_support)
                        {
                            GoNearandRotate(packet, repo.Configuration.IsBlueTeam, 300, RobotToIRobotInfo(packet.detection.robots_blue[OwnFreeRoleId]));
                        }
                    }
                }
            }
        }
Esempio n. 4
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 public IRobotInfo[] TrianglePoints(SSL_WrapperPacket packet, IRobotInfo source, int TargetID, bool IsBlue)
 {
     IRobotInfo[] t = new IRobotInfo[2];
     float angle = (float)Math.Atan2(source.Y - packet.detection.robots_blue[TargetID].y, source.X - packet.detection.robots_blue[TargetID].x);
     t[0] = new RobotParameters((float)(-100 * Math.Sin(angle)) + source.X, (float)(100 * Math.Cos(angle)) + source.Y, 0);
     t[1] = new RobotParameters((float)(100 * Math.Sin(angle)) + source.X, (float)(-100 * Math.Cos(angle)) + source.Y, 0);
     return t;
 }
Esempio n. 5
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        public void Block_Attacker(SSL_WrapperPacket packet, bool IsBlue)
        {
            IRobotInfo Final_Point_Marker = new RobotParameters(0, 0, 0);
            float Final_Angle = 0;
            float tmp_slope = 0;
            if (IsBlue)
            {
                tmp_slope = (OwnGoal.Y - packet.detection.balls[0].y) / (OwnGoal.X - packet.detection.balls[0].x);
                if (float.IsInfinity(tmp_slope))
                    tmp_slope = 300;
                float x = 0;
                float y = 0;
                double ratio = 0.1666666666;
                while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 300)
                {
                    if (tmp_slope > 9)
                    {
                        x = (float)(x - ratio);
                        y = (float)(y - ratio * tmp_slope);
                    }
                    else
                    {
                        x = x - 1;
                        y = y - tmp_slope;
                    }
                }
                Final_Point_Marker.X = packet.detection.balls[0].x + x;
                Final_Point_Marker.Y = packet.detection.balls[0].y + y;
                Final_Angle = (float)Math.Atan2(OwnGoal.Y - packet.detection.balls[0].y, OwnGoal.X - packet.detection.balls[0].x);
                Final_Angle = (float)(Final_Angle + Math.PI);
                Final_Point_Marker.W = Final_Angle;

                repo.OutData[OwnAttackerId].X = Final_Point_Marker.X;
                repo.OutData[OwnAttackerId].Y = Final_Point_Marker.Y;
                repo.OutData[OwnAttackerId].W = Final_Point_Marker.W;
                //DataHandler.WriteReference(Final_Point_Marker, Attacker_Blue);
            }
            else
            {
                tmp_slope = (OppGoal.Y - packet.detection.balls[0].y) / (OppGoal.X - packet.detection.balls[0].x);
                if (float.IsInfinity(tmp_slope))
                    tmp_slope = 300;
                float x = 0;
                float y = 0;
                double ratio = 0.16666666666;
                while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 300)
                {
                    if (tmp_slope > 9)
                    {
                        x = (float)(x + ratio);
                        y = (float)(y + ratio * tmp_slope);
                    }
                    else
                    {
                        x = x + 1;
                        y = y + tmp_slope;
                    }
                }
                Final_Point_Marker.X = packet.detection.balls[0].x + x;
                Final_Point_Marker.Y = packet.detection.balls[0].y + y;
                Final_Angle = (float)Math.Atan2(OppGoal.Y - packet.detection.balls[0].y, OppGoal.X - packet.detection.balls[0].x);
                Final_Angle = (float)(Final_Angle + Math.PI);
                Final_Point_Marker.W = Final_Angle;

                repo.OutData[OppAttackerId].X = Final_Point_Marker.X;
                repo.OutData[OppAttackerId].Y = Final_Point_Marker.Y;
                repo.OutData[OppAttackerId].W = Final_Point_Marker.W;
                //DataHandler.WriteReference(Final_Point_Marker, Attacker_Yellow);
                //Yellow Function Goes Here
            }
            //Use Marker_Yellow for team 2 and Marker_Blue for team 1.
        }
Esempio n. 6
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 public IRobotInfo[] PlanExclusive(SSL_WrapperPacket mainPacket)
 {
     Plan();
     return null;
 }
Esempio n. 7
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        public void rotateabout(SSL_WrapperPacket packet, IRobotInfo target, float conf)
        {
            //packet.detection.robots_blue[Attacker_Blue]
            //PointF[] paray=new PointF[360];
            //for (int i=0;i<360;i++)
            float finalangle = (float)Math.Atan2(packet.detection.balls[0].y - target.Y, packet.detection.balls[0].x - target.X);
            IRobotInfo rb1 = new RobotParameters();
            float i = (float)Math.Atan2(packet.detection.robots_blue[OwnAttackerId].y - packet.detection.balls[0].y, packet.detection.robots_blue[OwnAttackerId].x - packet.detection.balls[0].x);
            float Offset = 1.30f;//0.69808027923211169284467713787086f;
            if (Math.Abs(finalangle - i) > Math.PI)
                Offset = -Offset;
            if (finalangle - i > Offset)//0.69808027923211169284467713787086f)
            {
                //rebuff = (finalangle * 57.3).ToString() + " x " + (i * 57.3).ToString();
                i += Offset;
                rb1.X = packet.detection.balls[0].x + conf * (float)Math.Cos(i);
                rb1.Y = packet.detection.balls[0].y + conf * (float)Math.Sin(i);
                //rb1.w = (float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_blue[Attacker_Blue].y, packet.detection.balls[0].x - packet.detection.robots_blue[Attacker_Blue].x);
                //rb1.w += (float)Offset;
                repo.OutData[OwnAttackerId].X = rb1.X;
                repo.OutData[OwnAttackerId].Y = rb1.Y;
                repo.OutData[OwnAttackerId].W = (float)Math.Atan2(0 - repo.InData.GetBalls(0)[0].y, 3025 - repo.InData.GetBalls(0)[0].x);
                //DataHandler.WriteReference(new RobotParameters(rb1.X, rb1.Y, (float)Math.Atan2(0 - packet.detection.balls[0].y, 3025 - packet.detection.balls[0].x)), Attacker_Blue);
            }
            else if (finalangle - i > 0.05f)
            {
                //rebuff = (finalangle * 57.3).ToString() + Environment.NewLine;
                rb1.X = packet.detection.balls[0].x + conf * (float)Math.Cos(finalangle);
                rb1.Y = packet.detection.balls[0].y + conf * (float)Math.Sin(finalangle);
                //rb1.w = (float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_blue[Attacker_Blue].y, packet.detection.balls[0].x - packet.detection.robots_blue[Attacker_Blue].x);
                //rb1.w += (float)(40 / 57.3);
                repo.OutData[OwnAttackerId].X = rb1.X;
                repo.OutData[OwnAttackerId].Y = rb1.Y;
                repo.OutData[OwnAttackerId].X = (float)Math.Atan2(0 - packet.detection.balls[0].y, 3025 - packet.detection.balls[0].x);
                //DataHandler.WriteReference(new IRobotInfo(rb1.X, rb1.Y, (float)Math.Atan2(0 - packet.detection.balls[0].y, 3025 - packet.detection.balls[0].x)), Attacker_Blue);

            }
            else
                GrabOrKick(packet, OwnAttackerId);
        }
Esempio n. 8
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        public void MakeFreeSpace(SSL_WrapperPacket packet, bool IsBlue)
        {
            IRobotInfo Final_Point_Support = new RobotParameters();
            IRobotInfo Final_Point_Mid = new RobotParameters();
            if (IsBlue)
            {
                //tb_private.Text += "Blue team's Attack Support ID " + Attack_Supporter_Blue + " and Midfielder ID " + Free_Role_Blue + " move into the free space" + "\r\n";
                if (OppRobotsMean.Y > 0)
                {
                    if (Distance(packet.detection.robots_blue[OwnAttackSupportId].x, OppRobotsMean.X, packet.detection.robots_blue[OwnAttackSupportId].y, OppRobotsMean.Y) < Distance(packet.detection.robots_blue[OwnFreeRoleId].x, OppRobotsMean.X, packet.detection.robots_blue[OwnFreeRoleId].y, OppRobotsMean.Y))
                    {
                        Final_Point_Support.X = OppRobotsMean.X;
                        Final_Point_Support.Y = OppRobotsMean.Y;
                        Final_Point_Mid.X = OppRobotsMean.X;
                        Final_Point_Mid.Y = -9 * OppRobotsStandardDeviation.Y / 5;
                    }
                    else
                    {
                        Final_Point_Support.X = OppRobotsMean.X;
                        Final_Point_Support.Y = -9 * OppRobotsStandardDeviation.Y / 5;
                        Final_Point_Mid.X = OppRobotsMean.X;
                        Final_Point_Mid.Y = OppRobotsMean.Y;
                    }
                }
                else
                {
                    if (Distance(packet.detection.robots_blue[OwnAttackSupportId].x, OppRobotsMean.X, packet.detection.robots_blue[OwnAttackSupportId].y, -OppRobotsMean.Y) < Distance(packet.detection.robots_blue[OwnFreeRoleId].x, OppRobotsMean.X, packet.detection.robots_blue[OwnFreeRoleId].y, -OppRobotsMean.Y))
                    {
                        Final_Point_Support.X = OppRobotsMean.X;
                        Final_Point_Support.Y = -OppRobotsMean.Y;
                        Final_Point_Mid.X = OppRobotsMean.X;
                        Final_Point_Mid.Y = 9 * OppRobotsStandardDeviation.Y / 5;
                    }
                    else
                    {
                        Final_Point_Support.X = OppRobotsMean.X;
                        Final_Point_Support.Y = 9 * OppRobotsStandardDeviation.Y / 5;
                        Final_Point_Mid.X = OppRobotsMean.X;
                        Final_Point_Mid.Y = -OppRobotsMean.Y;
                    }
                }
                Final_Point_Support.W = (float)Math.Atan2(packet.detection.balls[0].y - Final_Point_Support.Y, packet.detection.balls[0].x - Final_Point_Support.X);
                Final_Point_Mid.W = (float)Math.Atan2(packet.detection.balls[0].y - Final_Point_Mid.Y, packet.detection.balls[0].x - Final_Point_Mid.X);

                repo.OutData[OwnAttackSupportId].X = Final_Point_Support.X;
                repo.OutData[OwnAttackSupportId].Y = Final_Point_Support.Y;
                repo.OutData[OwnAttackSupportId].W = Final_Point_Support.W;
                //DataHandler.WriteReference(Final_Point_Support, Attack_Supporter_Blue);
                repo.OutData[OwnFreeRoleId].X = Final_Point_Mid.X;
                repo.OutData[OwnFreeRoleId].Y = Final_Point_Mid.Y;
                repo.OutData[OwnFreeRoleId].W = Final_Point_Mid.W;
                //DataHandler.WriteReference(Final_Point_Mid, Free_Role_Blue);

                //tb_private.Text += "Blue team's Attack Support ID " + Attack_Supporter_Blue + " moves to (" + Final_Point_Support.X + ", " + Final_Point_Support.Y + ") and Midfielder ID " + Free_Role_Blue + " moves to (" + Final_Point_Mid.X + ", " + Final_Point_Mid.Y + ")" + "\r\n";

            }
            else
            {
                if (OwnRobotsMean.Y > 0)
                {
                    if (Distance(packet.detection.robots_yellow[OppAttackSupportId].x, OwnRobotsMean.X, packet.detection.robots_yellow[OppAttackSupportId].y, OwnRobotsMean.Y) < Distance(packet.detection.robots_yellow[OppFreeRoleId].x, OwnRobotsMean.X, packet.detection.robots_yellow[OppFreeRoleId].y, OwnRobotsMean.Y))
                    {
                        Final_Point_Support.X = OwnRobotsMean.X;
                        Final_Point_Support.Y = OwnRobotsMean.Y;
                        Final_Point_Mid.X = OwnRobotsMean.X;
                        Final_Point_Mid.Y = -9 * OwnRobotsStandardDeviation.Y / 5;
                    }
                    else
                    {
                        Final_Point_Support.X = OwnRobotsMean.X;
                        Final_Point_Support.Y = -9 * OwnRobotsStandardDeviation.Y / 5;
                        Final_Point_Mid.X = OwnRobotsMean.X;
                        Final_Point_Mid.Y = OwnRobotsMean.Y;
                    }
                }
                else
                {
                    if (Distance(packet.detection.robots_yellow[OppAttackSupportId].x, OwnRobotsMean.X, packet.detection.robots_yellow[OppAttackSupportId].y, -OwnRobotsMean.Y) < Distance(packet.detection.robots_yellow[OppFreeRoleId].x, OwnRobotsMean.X, packet.detection.robots_yellow[OppFreeRoleId].y, -OwnRobotsMean.Y))
                    {
                        Final_Point_Support.X = OwnRobotsMean.X;
                        Final_Point_Support.Y = -OwnRobotsMean.Y;
                        Final_Point_Mid.X = OwnRobotsMean.X;
                        Final_Point_Mid.Y = 9 * OwnRobotsStandardDeviation.Y / 5;
                    }
                    else
                    {
                        Final_Point_Support.X = OwnRobotsMean.X;
                        Final_Point_Support.Y = 9 * OwnRobotsStandardDeviation.Y / 5;
                        Final_Point_Mid.X = OwnRobotsMean.X;
                        Final_Point_Mid.Y = -OwnRobotsMean.Y;
                    }
                }

                Final_Point_Mid.W = (float)Math.Atan2(packet.detection.balls[0].y - Final_Point_Mid.Y, packet.detection.balls[0].x - Final_Point_Mid.X);
                Final_Point_Support.W = (float)Math.Atan2(packet.detection.balls[0].y - Final_Point_Support.Y, packet.detection.balls[0].x - Final_Point_Support.X);

                repo.OutData[OppAttackSupportId].X = Final_Point_Support.X;
                repo.OutData[OppAttackSupportId].Y = Final_Point_Support.Y;
                repo.OutData[OppAttackSupportId].W = Final_Point_Support.W;
                //DataHandler.WriteReference(Final_Point_Support, Attack_Supporter_Yellow);
                repo.OutData[OppFreeRoleId].X = Final_Point_Mid.X;
                repo.OutData[OppFreeRoleId].Y = Final_Point_Mid.Y;
                repo.OutData[OppFreeRoleId].W = Final_Point_Mid.W;
                //DataHandler.WriteReference(Final_Point_Mid, Free_Role_Yellow);

                //MessageBox.Show(Final_Point_Support.x.ToString() + ", " + Final_Point_Support.y.ToString() + "    " + Final_Point_Mid.x.ToString() + ", " + Final_Point_Mid.y.ToString());
                //tb_private.Text += "Yellow team's Attack Support ID " + Attack_Supporter_Yellow + " and Midfielder ID " + Free_Role_Yellow + " move into the free space" + "\r\n";
            }
        }
Esempio n. 9
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        public void Mark_Opp_Attack_Support(SSL_WrapperPacket packet, bool IsBlue)
        {
            IRobotInfo Final_Point_Marker = new RobotParameters(0, 0, 0);
            float Final_Angle = 0;
            float tmp_slope = 0;
            if (IsBlue)
            {
                tmp_slope = (packet.detection.robots_yellow[OppAttackSupportId].y - packet.detection.robots_yellow[OppAttackerId].y) / (packet.detection.robots_yellow[OppAttackSupportId].x - packet.detection.robots_yellow[OppAttackerId].x);
                if (float.IsInfinity(tmp_slope))
                    tmp_slope = 300;
                float x = 0;
                float y = 0;
                double ratio = 0.1666666;
                while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 300)
                {
                    if (packet.detection.robots_yellow[OppAttackSupportId].x <= packet.detection.robots_yellow[OppAttackerId].x)
                    {
                        if (tmp_slope > 9)
                        {
                            x = (float)(x + ratio);
                            y = (float)(y + ratio * tmp_slope);
                        }
                        else
                        {
                            x = x + 1;
                            y = y + tmp_slope;
                        }
                    }
                    else
                    {
                        if (tmp_slope > 9)
                        {
                            x = (float)(x - ratio);
                            y = (float)(y - ratio * tmp_slope);
                        }
                        else
                        {
                            x = x - 1;
                            y = y - tmp_slope;
                        }
                    }
                }
                Final_Point_Marker.X = packet.detection.robots_yellow[OppAttackSupportId].x + x;
                Final_Point_Marker.Y = packet.detection.robots_yellow[OppAttackSupportId].y + y;
                Final_Angle = (float)Math.Atan2(packet.detection.robots_yellow[OppAttackSupportId].y - packet.detection.robots_yellow[OppAttackerId].y, packet.detection.robots_yellow[OppAttackSupportId].x - packet.detection.robots_yellow[OppAttackerId].x);
                Final_Angle = (float)(Final_Angle + Math.PI);
                Final_Point_Marker.W = Final_Angle;
                //MessageBox.Show(Final_Angle.ToString());

                repo.OutData[OwnAttackSupportId].X = Final_Point_Marker.X;
                repo.OutData[OwnAttackSupportId].Y = Final_Point_Marker.Y;
                repo.OutData[OwnAttackSupportId].W = Final_Point_Marker.W;
                //DataHandler.WriteReference(Final_Point_Marker, Attack_Supporter_Blue);

                //tb_private.Text += "Blue Marker ID " + Marker_Blue + " blocking goal " + "\r\n";
                //tb_private.Text += "Blue Midfielder ID " + Free_Role_Blue + " moves to (" + Final_Point_Marker.X + ", " + Final_Point_Marker.Y + ")" + "\r\n";
            }
            else
            {
                tmp_slope = (packet.detection.robots_blue[OwnAttackSupportId].y - packet.detection.robots_blue[OwnAttackerId].y) / (packet.detection.robots_blue[OwnAttackSupportId].x - packet.detection.robots_blue[OwnAttackerId].x);
                //.Show(tmp_slope.ToString());
                if (float.IsInfinity(tmp_slope))
                    tmp_slope = 300;
                //MessageBox.Show(tmp_slope.ToString());
                float x = 0;
                float y = 0;
                double ratio = 0.1666666666666;
                while (Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2)) < 300)
                {
                    if (packet.detection.robots_blue[OwnAttackSupportId].x <= packet.detection.robots_blue[OwnAttackerId].x)
                    {
                        if (tmp_slope > 9)
                        {
                            x = (float)(x + ratio);
                            y = (float)(y + ratio * tmp_slope);
                        }
                        else
                        {
                            x = x + 1;
                            y = y + tmp_slope;
                        }
                    }
                    else
                    {
                        if (tmp_slope > 9)
                        {
                            x = (float)(x - ratio);
                            y = (float)(y - ratio * tmp_slope);
                        }
                        else
                        {
                            x = x - 1;
                            y = y - tmp_slope;
                        }
                        //MessageBox.Show(x.ToString() + ", " + y.ToString());
                    }
                }
                Final_Point_Marker.X = packet.detection.robots_blue[OwnAttackSupportId].x + x;
                Final_Point_Marker.Y = packet.detection.robots_blue[OwnAttackSupportId].y + y;
                Final_Angle = (float)Math.Atan2(packet.detection.robots_blue[OwnAttackSupportId].y - packet.detection.robots_blue[OwnAttackerId].y, packet.detection.robots_blue[OwnAttackSupportId].x - packet.detection.robots_blue[OwnAttackerId].x);
                Final_Angle = (float)(Final_Angle + Math.PI);
                Final_Point_Marker.W = Final_Angle;
                //MessageBox.Show(Final_Angle.ToString());

                repo.OutData[OppAttackSupportId].X = Final_Point_Marker.X;
                repo.OutData[OppAttackSupportId].Y = Final_Point_Marker.Y;
                repo.OutData[OppAttackSupportId].W = Final_Point_Marker.W;
                //DataHandler.WriteReference(Final_Point_Marker, Attack_Supporter_Yellow);

                //tb_private.Text += "Yellow team's Midfielder ID " + Free_Role_Blue + " marking Blue's Attack Supporter ID " + Attack_Supporter_Blue + "\r\n";
            }
        }
Esempio n. 10
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 public void GrabOrKick(SSL_WrapperPacket packet, int id)
 {
     if (repo.Configuration.IsBlueTeam)
     {
         if (Distance(packet.detection.robots_blue[id].x, packet.detection.balls[0].x, packet.detection.robots_blue[id].y, packet.detection.balls[0].y) > 105)
             GrabBall(packet, repo.Configuration.IsBlueTeam);
         else
             Kickball(packet, id, 5, repo.Configuration.IsBlueTeam);
     }
     else
     {
         if (Distance(packet.detection.robots_yellow[id].x, packet.detection.balls[0].x, packet.detection.robots_yellow[id].y, packet.detection.balls[0].y) > 105)
             GrabBall(packet, repo.Configuration.IsBlueTeam);
         else
             Kickball(packet, id, 5, repo.Configuration.IsBlueTeam);
     }
 }
Esempio n. 11
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 public void Kickball(SSL_WrapperPacket packet, int id, float speed, bool IsBlue)
 {
     if (IsBlue)
     {
         repo.OutData[id].KickSpeed = speed;
         //DataHandler.WriteKickSpeed(speed, id);
         System.Threading.Thread.Sleep(100);
         repo.OutData[id].KickSpeed = 0;
         //DataHandler.WriteKickSpeed(0, id);
         repo.OutData[id].Grab = false;
         //DataHandler.Dribble[id] = false;
     }
     else
     {
         repo.OutData[id].KickSpeed = speed;
         //DataHandler.WriteKickSpeed(speed, id);
         System.Threading.Thread.Sleep(100);
         repo.OutData[id].KickSpeed = 0;
         //DataHandler.WriteKickSpeed(0, id);
         repo.OutData[id].Grab = false;
         //DataHandler.Dribble[id] = false;
     }
 }
Esempio n. 12
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 public void GrabBall(SSL_WrapperPacket packet, bool IsBlue)
 {
     if (IsBlue)
     {
         IRobotInfo final = new RobotParameters(packet.detection.balls[0].x, packet.detection.balls[0].y,
             (float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_blue[OwnAttackerId].y,
             packet.detection.balls[0].x - packet.detection.robots_blue[OwnAttackerId].x));
         repo.OutData[OwnAttackerId].X = final.X;
         repo.OutData[OwnAttackerId].X = final.Y;
         repo.OutData[OwnAttackerId].X = final.W;
         //DataHandler.WriteReference(final, Attacker_Blue);
         repo.OutData[OwnAttackerId].Grab = true;
         //DataHandler.Dribble[Attacker_Blue] = true;
     }
     else
     {
         IRobotInfo final = new RobotParameters(packet.detection.balls[0].x, packet.detection.balls[0].y,
             (float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_yellow[OppAttackerId].y,
             packet.detection.balls[0].x - packet.detection.robots_yellow[OppAttackerId].x));
         repo.OutData[OppAttackerId].X = final.X;
         repo.OutData[OppAttackerId].X = final.Y;
         repo.OutData[OppAttackerId].X = final.W;
         //DataHandler.WriteReference(final, Attacker_Yellow);
         repo.OutData[OppAttackerId].Grab = true;
         //DataHandler.Dribble[Attacker_Yellow] = true;
     }
 }
Esempio n. 13
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 public void GoNearBall(SSL_WrapperPacket packet, bool IsBlue, float conf)
 {
     if (IsBlue)
     {
         float dis = Distance(packet.detection.robots_blue[OwnAttackerId].x, packet.detection.balls[0].x, packet.detection.robots_blue[OwnAttackerId].y, packet.detection.balls[0].y);
         float angle = (float)Math.Atan2(packet.detection.balls[0].y - packet.detection.robots_blue[OwnAttackerId].y, packet.detection.balls[0].x - packet.detection.robots_blue[OwnAttackerId].x);
         dis -= conf;
         IRobotInfo Target = new RobotParameters(packet.detection.robots_blue[OwnAttackerId].x + (float)(dis * Math.Cos(angle)), packet.detection.robots_blue[OwnAttackerId].y + (float)(dis * Math.Sin(angle)), (float)Math.Atan2(0 - packet.detection.balls[0].y, 3025 - packet.detection.balls[0].x));
         repo.OutData[OwnAttackerId].X = Target.X;
         repo.OutData[OwnAttackerId].Y = Target.Y;
         repo.OutData[OwnAttackerId].W = Target.W;
         //DataHandler.WriteReference(Target, Attacker_Blue);
     }
 }
Esempio n. 14
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        public void GoNearandRotate(SSL_WrapperPacket packet, bool IsBlue, float conf, IRobotInfo target)
        {
            if (Distance(packet.detection.robots_blue[OwnAttackerId].x, packet.detection.balls[0].x, packet.detection.robots_blue[OwnAttackerId].y, packet.detection.balls[0].y) > conf)
                GoNearBall(packet, true, conf - 200);
            else
            {
                rotateabout(packet, target, 350);

            }
        }
Esempio n. 15
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 /// <summary>
 /// Parse the input packet so it is available on the parser's call
 /// </summary>
 /// <param name="packet">Input packet</param>
 public void ParsePacket(SSL_WrapperPacket packet)
 {
     if (packet != null)
     {
         if (_isBlue)
         {
             foreach (SSL_DetectionRobot ownRobot in packet.detection.robots_blue)
                 _ownRobots[ownRobot.robot_id].Insert(ownRobot);
             foreach (SSL_DetectionRobot opponentRobot in packet.detection.robots_yellow)
                 _opponentRobots[opponentRobot.robot_id].Insert(opponentRobot);
         }
         else
         {
             foreach (SSL_DetectionRobot ownRobot in packet.detection.robots_yellow)
                 _ownRobots[ownRobot.robot_id].Insert(ownRobot);
             foreach (SSL_DetectionRobot opponentRobot in packet.detection.robots_blue)
                 _opponentRobots[opponentRobot.robot_id].Insert(opponentRobot);
         }
         _balls.Insert(packet.detection.balls);
         if (packet.geometry != null)
             lock (_geoLock)
             {
                 _geoData = packet.geometry;
             }
     }
 }
Esempio n. 16
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 public IRobotInfo[] PlanExclusive(SSL_WrapperPacket mainPacket)
 {
     for (int i = 0; i < _gamePads.Length; i++)
     {
         if (_gamePads[i].Acquire().IsFailure)
             continue;
         if (_gamePads[i].Poll().IsFailure)
             continue;
         _states[i] = _gamePads[i].GetCurrentState();
         if (Result.Last.IsFailure)
             continue;
         else
         {
             IRobotInfo robotInfo = new RobotParameters();
             robotInfo.Id = 1;
             //Get Current Robot Position
             //Set Next Robot Position By adding the GamePad Values in Current Positon
             // example
             //currVAlX += _states[i].X;
             //currVALY += _states[i].Y;
             //currVALZ += _states[i].Z;
             //Call GrabBall Function from AI AIPlanner if you want (To Rotate and Go to that point)
             //Call GotoBall Function from AI AIPlanner if you want (TO Goto that point with Same direction)
             //Send Value to PID;
             //Write values to _repReference.OutData
             return new[] {robotInfo};
         }
     }
     return null;
 }