public override BehaviourTreeStatus Tick()
{
BlackBoard blackBoard = this.bb;
double rotation = 0;
double accuracy = 5;
rotation = GetAngleOfGunHeading();
double distance = blackBoard.ScannendEvent.Distance;
accuracy = 180 / (distance * 0.1f);
double absoluteBearing = this.bb.Robot.Heading + this.bb.ScannendEvent.Bearing;
this.bb.Robot.TurnGunRight(Utils.ToDegrees(Utils.NormalRelativeAngle(Utils.ToRadians(absoluteBearing - this.bb.Robot.GunHeading))));
//blackBoard.Robot.TurnGunRight(rotation);
return(BehaviourTreeStatus.Success);
if (Math.Abs(rotation) < accuracy)
{
return(BehaviourTreeStatus.Success);
}
else
{
return(BehaviourTreeStatus.Running);
}
}
public double GetAngleOfGunHeading()
{
BlackBoard blackBoard = this.bb;
if (this.bb.ScannendEvent == null)
{
return(0);
}
double angle = blackBoard.ScannendEvent.Bearing -
(blackBoard.Robot.GunHeading - blackBoard.Robot.Heading);
if (angle < -180)
{
angle += 360;
}
return(angle);
}
public SelectorNode(BlackBoard bb, params BaseNode[] _inputNodes)
{
this.bb = bb;
this.inputNodes = _inputNodes;
}
public TurnGunNode(BlackBoard bb)
{
this.bb = bb;
}
public CircleAroundNode(BlackBoard bb)
{
this.bb = bb;
}
public TrackNode(BlackBoard bb, double scanRadians, double trackArea)
{
this.bb = bb;
this.scanRadians = scanRadians;
this.trackArea = trackArea;
}
public void OnInitialize(BlackBoard bb)
{
throw new NotImplementedException();
}
public ConditionNode(BlackBoard blackBoard, Func <bool> condition, params BaseNode[] input)
{
this.bb = blackBoard;
this.condition = condition;
this.inputNodes = input;
}
public FindPattern(BlackBoard bb)
{
this.bb = bb;
}
public MoveNode(BlackBoard bb, double distance)
{
this.bb = bb;
this.distance = distance;
}
public InverterNode(BlackBoard bb, BaseNode child)
{
this.bb = bb;
this.childNode = child;
}
public SequenceNode(BlackBoard bb, params BaseNode[] _inputNodes)
{
this.inputNodes = _inputNodes;
this.bb = bb;
}
public QSNode(BlackBoard bb)
{
this.bb = bb;
}
public AnitGravMoveNode(BlackBoard bb, double distance)
{
this.bb = bb;
this.distance = distance;
//this.gravpoints = inputPoints;
}
public FireNode(BlackBoard bb, double power)
{
this.bb = bb;
this.power = power;
}
public SetPowerNode(BlackBoard bb)
{
this.bb = bb;
}
public ScanNode(BlackBoard bb, double scanRadians)
{
this.bb = bb;
this.scanRadians = scanRadians;
}
