void findBall(){
display_clear();
int temptLMSpeed = LM_MINS; // changeable minimum speed for left motor
int temptRMSpeed = RM_MINS; // changeable minimum speed for right morot
int lastLMSpeed, lastRMSpeed; // motor speed
int lastLMPos, lastRMPos; // motor positions
int errorX = 0, errorY = 0; // difference of current ball coordinate and target coordinate
int objArea; // area of the largest object in sight
point2 objCen; // object center coordinate
camera_update();
int objNum = get_object_count(GREEN);
while(objNum == 0){
camera_update();
objNum = get_object_count(GREEN);
}
// find a ball in sight
objCen = get_object_center(GREEN, 0);
errorX = OFFSET_X - objCen.x;
errorY = OFFSET_Y - objCen.y;
while(!(a_button_clicked())){
camera_update();
objArea = get_object_area(GREEN, 0);
while(objArea < 200){
ao();
camera_update();
objArea = get_object_area(GREEN, 0);
}
// make sure really a ball is in sight
objCen = get_object_center(GREEN, 0);
errorX = OFFSET_X - objCen.x;
errorY = OFFSET_Y - objCen.y;
// find differences between coordinates
if(errorX > -3 && errorX < 2 && errorY > -3 && errorY < 2)
break;
int turnLM = -1 * errorX * P_X + errorY * P_Y;
int turnRM = errorX * P_X + errorY * P_Y;
// turn for LM, RM
if(turnLM == lastLMSpeed && lastLMPos == get_motor_position_counter(LM))
temptLMSpeed = temptLMSpeed + 1;
if(turnLM == lastLMSpeed && lastLMPos != get_motor_position_counter(LM))
temptLMSpeed = temptLMSpeed - 1;
if(turnLM == -1 * lastLMSpeed && lastLMPos != get_motor_position_counter(LM))
temptLMSpeed = temptLMSpeed - 2;
if(turnRM == lastRMSpeed && lastRMPos == get_motor_position_counter(RM))
temptRMSpeed = temptRMSpeed + 1;
if(turnRM == lastRMSpeed && lastRMPos != get_motor_position_counter(RM))
temptRMSpeed = temptRMSpeed - 1;
if(turnRM == -1 * lastRMSpeed && lastRMPos != get_motor_position_counter(RM))
temptRMSpeed = temptRMSpeed - 2;
lastLMSpeed = turnLM;
lastLMPos = get_motor_position_counter(LM);
lastRMSpeed = turnRM;
lastRMPos = get_motor_position_counter(RM);
// check if speed is too high or low, thus make modification to minimum speed
if(turnLM > -1 * temptLMSpeed && turnLM < 0)
turnLM = -1 * temptLMSpeed;
if(turnLM > 0 && turnLM < temptLMSpeed)
turnLM = temptLMSpeed;
if(turnRM > -1 * temptRMSpeed && turnRM < 0)
turnRM = -1 * temptRMSpeed;
if(turnRM > 0 && turnRM < temptRMSpeed)
turnRM = temptRMSpeed;
// set minimum speed: avoid unmoving
motor(LM, turnLM);
motor(RM, turnRM);
// move
}
ao();
catchBall(GREEN);
// stop and catch
}
/*!This method is a simple goalie based on the goalie of the simple Team of
FC Portugal. It defines a rectangle in its penalty area and moves to the
position on this rectangle where the ball intersects if you make a line
between the ball position and the center of the goal. If the ball can
be intercepted in the own penalty area the ball is intercepted and catched.
*/
SoccerCommand Player::deMeer5_goalie( )
{
int i;
SoccerCommand soc;
VecPosition posAgent = WM->getAgentGlobalPosition();
AngDeg angBody = WM->getAgentGlobalBodyAngle();
// define the top and bottom position of a rectangle in which keeper moves
static const VecPosition posLeftTop( -PITCH_LENGTH/2.0 +
0.7*PENALTY_AREA_LENGTH, -PENALTY_AREA_WIDTH/4.0 );
static const VecPosition posRightTop( -PITCH_LENGTH/2.0 +
0.7*PENALTY_AREA_LENGTH, +PENALTY_AREA_WIDTH/4.0 );
// define the borders of this rectangle using the two points.
static Line lineFront = Line::makeLineFromTwoPoints(posLeftTop,posRightTop);
static Line lineLeft = Line::makeLineFromTwoPoints(
VecPosition( -50.0, posLeftTop.getY()), posLeftTop );
static Line lineRight = Line::makeLineFromTwoPoints(
VecPosition( -50.0, posRightTop.getY()),posRightTop );
if( WM->isBeforeKickOff( ) )
{
if( formations->getFormation() != FT_INITIAL || // not in kickoff formation
posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )
{
formations->setFormation( FT_INITIAL ); // go to kick_off formation
ACT->putCommandInQueue( soc=teleportToPos(WM->getStrategicPosition()) );
}
else // else turn to center
{
ACT->putCommandInQueue( soc = turnBodyToPoint( VecPosition( 0, 0 ), 0 ));
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
return soc;
}
if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
{ // confidence ball too low
ACT->putCommandInQueue( searchBall() ); // search ball
ACT->putCommandInQueue( alignNeckWithBody( ) );
}
else if( WM->getPlayMode() == PM_PLAY_ON || WM->isFreeKickThem() ||
WM->isCornerKickThem() )
{
if( WM->isBallCatchable() )
{
ACT->putCommandInQueue( soc = catchBall() );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else if( WM->isBallKickable() )
{
soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else if( WM->isInOwnPenaltyArea( getInterceptionPointBall( &i, true ) ) &&
WM->getFastestInSetTo( OBJECT_SET_PLAYERS, OBJECT_BALL, &i ) ==
WM->getAgentObjectType() )
{
ACT->putCommandInQueue( soc = intercept( true ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
// make line between own goal and the ball
VecPosition posMyGoal = ( WM->getSide() == SIDE_LEFT )
? SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_L, SIDE_LEFT )
: SoccerTypes::getGlobalPositionFlag(OBJECT_GOAL_R, SIDE_RIGHT);
Line lineBall = Line::makeLineFromTwoPoints( WM->getBallPos(),posMyGoal);
// determine where your front line intersects with the line from ball
VecPosition posIntersect = lineFront.getIntersection( lineBall );
// outside rectangle, use line at side to get intersection
if (posIntersect.isRightOf( posRightTop ) )
posIntersect = lineRight.getIntersection( lineBall );
else if (posIntersect.isLeftOf( posLeftTop ) )
posIntersect = lineLeft.getIntersection( lineBall );
if( posIntersect.getX() < -49.0 )
posIntersect.setX( -49.0 );
// and move to this position
if( posIntersect.getDistanceTo( WM->getAgentGlobalPosition() ) > 0.5 )
{
soc = moveToPos( posIntersect, PS->getPlayerWhenToTurnAngle() );
ACT->putCommandInQueue( soc );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
}
else if( WM->isFreeKickUs() == true || WM->isGoalKickUs() == true )
{
if( WM->isBallKickable() )
{
if( WM->getTimeSinceLastCatch() == 25 && WM->isFreeKickUs() )
{
// move to position with lesser opponents.
if( WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS,
Circle(posRightTop, 15.0 )) <
WM->getNrInSetInCircle( OBJECT_SET_OPPONENTS,
Circle(posLeftTop, 15.0 )) )
soc.makeCommand( CMD_MOVE,posRightTop.getX(),posRightTop.getY(),0.0);
else
soc.makeCommand( CMD_MOVE,posLeftTop.getX(), posLeftTop.getY(), 0.0);
ACT->putCommandInQueue( soc );
}
else if( WM->getTimeSinceLastCatch() > 28 )
{
soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );
ACT->putCommandInQueue( soc );
}
else if( WM->getTimeSinceLastCatch() < 25 )
{
VecPosition posSide( 0.0, posAgent.getY() );
if( fabs( (posSide - posAgent).getDirection() - angBody) > 10 )
{
soc = turnBodyToPoint( posSide );
ACT->putCommandInQueue( soc );
}
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
}
else if( WM->isGoalKickUs() )
{
ACT->putCommandInQueue( soc = intercept( true ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
else
{
ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
}
return soc;
}
