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);
}
}
public fieldLocation.places NextLocation(fieldLocation.places current)
{
//given a location, where to go next?
fieldLocation.places results = fieldLocation.places.not_set;
switch (current)
{
case fieldLocation.places.not_set:
if (bot.team == Bot.Alliance.blue)
{
results = fieldLocation.places.red_outerworks;
}
else
{
results = fieldLocation.places.blue_outerworks;
}
bot.distancetogo = WorldFacts.neutralToOuter;
break;
case fieldLocation.places.blue_outerworks:
bot.def = pickDefense(current);
if (bot.def != null)
{
bot.defenseTimetogo = bot.def.friction;
results = fieldLocation.places.blue_outerworks_breached;
}
break;
case fieldLocation.places.red_outerworks:
bot.def = pickDefense(current);
if (bot.def != null)
{
bot.defenseTimetogo = bot.def.friction;
results = fieldLocation.places.red_outworks_breached;
}
break;
case fieldLocation.places.red_outworks_breached:
if (bot.canShoot || bot.canAuto.HasFlag(Bot.autoAbility.shoot) || bot.hasBall)
{
results = fieldLocation.places.red_courtyard;
bot.distancetogo = WorldFacts.courtToOuter;
} //otherwise, head back?
else
{
bot.def = pickDefense(current);
if (bot.def != null)
{
bot.defenseTimetogo = bot.def.friction;
results = fieldLocation.places.red_outerworks;
} //note in auto we would just sit there
}
break;
}
return(results);
}
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
}
public Defense pickDefense(fieldLocation.places current)
{
Defense results = null;
Defense[] options;
if (current == fieldLocation.places.blue_outerworks)
{
options = bot.field.blueOuterworks;
}
else
{
options = bot.field.redOuterworks;
}
switch (bot.mode)
{
case Bot.botMode.auto:
switch (current)
{
case fieldLocation.places.red_outerworks:
case fieldLocation.places.blue_outerworks:
if (!bot.canAuto.HasFlag(Bot.autoAbility.breach))
{
return(results); //bot cant breach in auto
}
results = options[3];
break;
case fieldLocation.places.red_outworks_breached:
case fieldLocation.places.blue_outerworks_breached:
results = null; //in auto you dont go back
break;
}
break;
case Bot.botMode.tele:
results = options[3];
break;
}
return(results);
}
//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);
}
}
//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);
}
}
