public void setup()
{
//setup defenses
redOuterworks[0] = new Defense();
redOuterworks[1] = new Defense();
redOuterworks[2] = new Defense();
redOuterworks[3] = new Defense();
redOuterworks[4] = new Defense();
//setup bots
//make some shortcut lables
Bot.teleAbility tele1 = Bot.teleAbility.shoot | Bot.teleAbility.climb;
Bot.teleAbility tele2 = Bot.teleAbility.breach;
Bot.autoAbility auto0 = Bot.autoAbility.none;
Bot.autoAbility auto1 = Bot.autoAbility.breach;
//build bots
redAlliance[0] = new Bot(tele1, auto0,Bot.Alliance.red);
redAlliance[1] = new Bot(tele1, auto0, Bot.Alliance.red);
redAlliance[2] = new Bot(tele1, auto0, Bot.Alliance.red);
blueAlliance[0] = new Bot(tele2,auto1, Bot.Alliance.blue);
blueAlliance[1] = new Bot(tele2, auto1, Bot.Alliance.blue);
blueAlliance[2] = new Bot(tele2, auto1, Bot.Alliance.blue);
for (int i = 0; i < 3; i++) //tell all robots how to find the field
{
redAlliance[i].field = this;
blueAlliance[i].field = this;
}
}
//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);
}
}
