void Start()
{
_robot_controller = GetComponent <RobotCarController>();
_robot_controller.Driver = new GoalieDriver(_robot_controller);
_robot_controller.transform.rotation = Quaternion.Euler(0f, 90f, 0f);
_robot_controller.IsGoalie = true;
Ball = GameObject.Find("Soccer Ball");
Goal = (_robot_controller.Team.Team == TeamController.TEAM.RED) ? GameObject.Find("LeftRing") : GameObject.Find("RightRing");
Config = GameObject.Find("ConfigurationHolder").GetComponent <ConfigurationHolder>();
GoalieOutputYDistance yOutput = null;
var category = new GoalieCategory(6);
float goalOffset;
switch (Config.c.NumberOfRobots)
{
case 3:
_goalie_x_distance = new SmallGoalieXDistance(1);
_goalie_y_distance = new SmallGoalieInputYDistance(2);
_ball_x_distance = new SmallGoalieXDistance(3);
_ball_y_distance = new SmallGoalieInputYDistance(4);
yOutput = new SmallGoalieOutputYDistance(5);
goalOffset = 15f;
break;
case 5:
_goalie_x_distance = new MiddleGoalieXDistance(1);
_goalie_y_distance = new MiddleGoalieInputYDistance(2);
_ball_x_distance = new MiddleGoalieXDistance(3);
_ball_y_distance = new MiddleGoalieInputYDistance(4);
yOutput = new MiddleGoalieOutputYDistance(5);
goalOffset = 20f;
break;
case 11:
_goalie_x_distance = new LargeGoalieXDistance(1);
_goalie_y_distance = new LargeGoalieInputYDistance(2);
_ball_x_distance = new LargeGoalieXDistance(3);
_ball_y_distance = new LargeGoalieInputYDistance(4);
yOutput = new LargeGoalieOutputYDistance(5);
goalOffset = 25f;
break;
default:
goalOffset = 15f;
break;
}
_strategizer = new GoalieStrategizer(_ball_x_distance, _goalie_x_distance, category);
_strategy_1 = new GoalieStrategy(1, _ball_y_distance, _goalie_y_distance, yOutput);
_strategy_2 = new GoalieStrategy(2, _ball_y_distance, _goalie_y_distance, yOutput);
_strategy_3 = new GoalieStrategy(3, _ball_y_distance, _goalie_y_distance, yOutput);
_strategy_4 = new GoalieStrategy(4, _ball_y_distance, _goalie_y_distance, yOutput);
float goalX = Goal.transform.position.z;
FixedX = goalX < 0 ? goalX + goalOffset : goalX - goalOffset;
}
// Update is called once per frame
void FixedUpdate()
{
NearestBlue = BlueTeam.GetClosestFromBall();
NearestRed = RedTeam.GetClosestFromBall();
var blueState = GetStateBlue();
var redState = GetStateRed();
RedTeam.UpdateStrategy((redState > blueState) ? TeamController.STRATEGY.OFFENSE : TeamController.STRATEGY.DEFENSE, NearestRed);
BlueTeam.UpdateStrategy((blueState > redState) ? TeamController.STRATEGY.OFFENSE : TeamController.STRATEGY.DEFENSE, NearestBlue);
//Debug.Log("Blue : " + blueState + " |||| Red : " + redState);
}
public void UpdateStrategy(STRATEGY strategy, RobotCarController nearestRobot)
{
Strategy = strategy;
if (Strategy == STRATEGY.OFFENSE)
{
ArbiterController.ArbiterRobot = nearestRobot;
switch (NoOfRobots)
{
case 3:
if (nearestRobot != Defenders[0])
{
Defenders[0].GetComponent <RobotCarController>().DestY = (Team == TEAM.BLUE) ? League.Small.Offense.OffensiveWait : League.Small.Offense.OffensiveWait * -1;
Defenders[0].GetComponent <RobotCarController>().DestX = 0;
}
else
{
Forward[0].GetComponent <RobotCarController>().DestY = (Team == TEAM.BLUE) ? League.Small.Offense.OffensiveWait : League.Small.Offense.OffensiveWait * -1;
Forward[0].GetComponent <RobotCarController>().DestX = 0;
}
break;
case 5:
break;
case 11:
break;
}
}
else
{
switch (NoOfRobots)
{
case 3:
Defenders[0].GetComponent <RobotCarController>().DestY = (Team == TEAM.BLUE) ? League.Small.Defense.DefenderLineAction : League.Small.Defense.DefenderLineAction * -1;
Defenders[0].GetComponent <RobotCarController>().DestX = Ball.transform.position.x;
Forward[0].GetComponent <RobotCarController>().DestX = Ball.transform.position.x;
Forward[0].GetComponent <RobotCarController>().DestY = Ball.transform.position.z;
break;
case 5:
break;
case 11:
break;
}
}
}
public Driver(RobotCarController robot)
{
Robot = robot;
RightFls = new RightWheelFLS();
LeftFls = new LeftWheelFLS();
}
public GoalieDriver(RobotCarController robot)
{
Robot = robot;
RightFls = new GoalieRightWheelFLS();
LeftFls = new GoalieLeftWheelFLS();
}
