bool makeObs (float x, float y) {
vec pos = {x, y, floatZero}, deg30 = {0.5f, floatZero, floatZero};
if (hitTarget(myState, pos)) {
setVelocity(zeroVec);
setTargetAngVel(deg30);
if (!startedYet) {
#if printDebug
DEBUG(("Started obstacle\n"));
#endif
game.startObstacle();
}
else {
float curSize = game.getCurrentObstacleSize();
if (dust < floatItsml || curSize > 0.299f || curSize - prevSize < floatItsml) {
#if printDebug
DEBUG(("Ended obstacle\n"));
#endif
game.stopObstacle();
return true;
}
prevSize = curSize;
}
startedYet = true;
}
else {
api.setPositionTarget(pos);
//slowGo(pos);
startedYet = false;
setTargetAngVel(zeroVec);
prevSize = floatZero;
}
return false;
}
void remDust () {
int count = game.getIdentifiedObstacles(obstacles);
for (int i = 0; i < count; i ++) {
if (obstacles[i].visible && chg) {
game.shrinkObstacle(obstacles[i].ID);
return;
}
}
}
void loop() {
//Variable Initialization
time ++;
api.getMyZRState(myState);
api.getOtherZRState(otherState);
phase = game.getCurrentPhase();
fuel = game.getFuelRemaining();
myScore = game.getScore();
otherScore = game.getOtherScore();
dust = game.getRemainingMaterial();
chg = game.getCharge();
if (time < 2) {
red = statePos(myState)[0] < floatZero;
}
//Debug Console
DEBUG(("\nDevilTech Message Screen: Fall 2012\n"));
#if printDebug
DEBUG(("Debug Info\n"));
DEBUG(("\tTime (s)\t%d\tPhase\t%d\tPlayer\t%s\n", time, phase, (red ? "Red" : "Blue")));
DEBUG(("\tFuel\t%.3f\tDust\t%.3f\tChg\t%d\n", fuel, dust, chg));
DEBUG(("\tScore\t%.2f\tOther Score\t%.2f\n", myScore, otherScore));
DEBUG(("\tOther Message\t%u\n", otherMessage));
printVec("\tMy Pos (m)", statePos(myState));
printVec("\tMy Vel (m/s)", stateVel(myState));
printVec("\tMy Att (unitvec)", stateAtt(myState));
printVec("\tMy AngVel (rad/s)", stateAngVel(myState));
printVec("\tOther Pos (m)", statePos(otherState));
printVec("\tOther Vel (m/s)", stateVel(otherState));
printVec("\tOther Att (unitvec)", stateAtt(otherState));
printVec("\tOther AngVel (rad/s)", stateAngVel(otherState));
#endif
//Game Logic
vec temp;
game.getItemLocation(2, temp);
if (!game.haveObject(0)) getItem(0);/*
else if (!game.haveObject(1) && !game.otherHasObject(1) && count2 < 25) {
getItem(1);
count2 ++;
}*/
else if (!game.haveObject(2) && !game.otherHasObject(2) && disBetweenPts(otherState, temp) > 0.075f && count3 < 25) {
getItem(2);
count3 ++;
}
else {
smartGo(red ? 0.055f : -0.055f, -0.065f);
if (phase == 3) removeObs();
}
}
void removeObs () {
int num = game.getVisibleObstacles(obstacles);
for (int i = 0; i < num; i ++) {
int m = 3;
while (chg && m) {
chg --;
m --;
game.shrinkObstacle(obstacles[i].ID);
}
}
}
//END::PAGE::Absolute Value
//BEGIN::PAGE::gotoItem
// makes SPHERE go to specified item
void gotoItem(int n)
{
api.getMyZRState(sphere);
game.getItemLocation(n, itemLoc);
api.setPositionTarget(itemLoc);
if(isClose(itemLoc) && isStopSpin() && isStopMove())
{
if(startTurnX == n)
{
if(startX > 0)
{
torques[0] = -sphere[7];
torques[1] = sphere[6];
}
else if(startX < 0)
{
torques[0] = sphere[7];
torques[1] = -sphere[6];
}
api.setAttitudeTarget(torques);
startTurnX = startTurnX + 1;
}
}
else
{
if(startTurnX == n && abs(sphere[11]) > minAngularSpeed)
{
rotation[2] = resetRotationTorque; //rotation needed to stop before next item
api.setTorques(rotation);
}
}
}
void getItem (int itemNo) {
#if printDebug
DEBUG(("getItem(%d) Info\n", itemNo));
#endif
if (game.getCurrentPhase() == 1) {
smartGo(red ? -0.45 : 0.45, statePos(myState)[1] < -0.05f ? 0.073f : 0.0505f);
#if printDebug
DEBUG(("\tMoving to Zone 2\n"));
#endif
return;
}
vec iloc;
game.getItemLocation(itemNo, iloc);
#if printDebug
printVec("\tItemPos (m)", iloc);
#endif
overshoot(iloc);
vec degs = {floatZero, floatZero, 0.62f};
setTargetAngVel(hitTarget(myState, iloc) ? degs : zeroVec);
}
void remDust () {
int i = obsDetected = game.getIdentifiedObstacles(obstacles);
api.setAttitudeTarget(makeVec(floatZero, -1.0f, floatZero));
#if printDebug
DEBUG(("remDust()\n"));
DEBUG(("\tDetected\t%d\n", obsDetected));
#endif
while (i -- && chg) {
#if printDebug
DEBUG(("\tObstacle ID\t%d\tRadius\t%.3f\n", obstacles[i].ID, obstacles[i].size));
printVec("\t\tObstacle Location", obstacles[i].loc);
#endif
if (obstacles[i].visible) {
#if printDebug
DEBUG(("\t\tShrinking\n"));
#endif
game.shrinkObstacle(obstacles[i].ID);
return;
}
}
}
bool makeObs (vec loc) {
#if printDebug
DEBUG(("makeObs()\n"));
printVec("\tAt loc (m):", loc);
#endif
if (!cloudOn) {
targetAtt[0] = -myState[6];
targetAtt[1] = -myState[7];
targetAtt[2] = -myState[8];
game.startObstacle();
cloudOn = true;
}
else if (hitTarget(myState, loc)) {
game.stopObstacle();
cloudOn = false;
return true;
}
#if printDebug
printVec("\tTarget att", targetAtt);
#endif
api.setAttitudeTarget(targetAtt);
api.setPositionTarget(loc);
return false;
}
void getItem (int itemNo) {
#if printDebug
DEBUG(("getItem(%d) Info\n", itemNo));
#endif
vec iloc;
game.getItemLocation(itemNo, iloc);
#if printDebug
printVec("\tItemPos (m)", iloc);
#endif
api.setPositionTarget(iloc);
if (hitTarget(myState, iloc)) {
vec temp = {0.75f, floatZero, floatZero};
setTargetAngVel(temp);
}
else {
setTargetAngVel(zeroVec);
}
}
/*
In order to collect an item, the following conditions must be true:
1. You must be < 0.05 meters away
2. You must have an angular velocity of < 2.3 degrees/second
3. You must have a linear velocity of < 0.01 meters per second
4. You must turn 90 degrees in any direction once 1,2,3 are true to collect an item.
The function is able to accept ints 0, 1, and 2, which correspond to items in the game.
1,2,3 are accounted for in their own various functions, isClose, isStopSpin, isStopMove
4 is accounted for with the rotation below with the function setAttitudeTarget
*/
void gotoItem(int n)
{
api.getMyZRState(sphere);
game.getItemLocation(n, itemLoc);
api.setPositionTarget(itemLoc);
if(isClose(itemLoc) && isStopSpin() && isStopMove())
{
//the purpose of startTurnX is to make sure you only turn once per item, save fuel
if(startTurnX == n)
{
/*
changes attitude vector from current position to either 90 degrees clockwise
90 degrees counterclockwise
*/
if(startX > 0)
{
torques[0] = -sphere[7];
torques[1] = sphere[6];
}
else if(startX < 0)
{
torques[0] = sphere[7];
torques[1] = -sphere[6];
}
api.setAttitudeTarget(torques);
startTurnX = startTurnX + 1;
}
}
else
{
//stops the robot by applying torque
if(startTurnX == n && abs(sphere[11]) > minAngularSpeed)
{
rotation[2] = resetRotationTorque; //rotation needed to stop before next item
api.setTorques(rotation);
}
}
}
void loop(){
api.getMyZRState(sphere);
if(startObstacle)
{
game.startObstacle();
startObstacle = false;
}
if(isStart < 3)
{
/*At the start of the game, we can determine which robot we are by
looking at the starting x value. Red starts at (-0.4, -0.6) while blue starts
at (0.4, -0.6). This allows us to specify certain values. (usually just to mirror
the robot), make sure it does the same thing but in a reflected direction.
*/
startX = sphere[0];
if(startX > 0)
{
resetRotationTorque = 0.0005;
torques[2] = -0.005;
}
else if(startX < 0)
{
resetRotationTorque = -0.0005;
torques[2] = 0.005;
}
api.setTorques(torques);
isStart = isStart + 1;
}
switch(game.getCurrentPhase()) // 1 is area 1, 2 is area 2, 3 is area 3
{
case 1:
//makes item, and proceeds to next zone once below a certain threshold.
if(game.getRemainingMaterial() < 0.03)
{
game.stopObstacle();
if(abs(sphere[11]) > minAngularSpeed)
{
torques[2] = resetRotationTorque;
api.setTorques(torques);
}
velocity[1] = 0.055; //min distance for item
api.setVelocityTarget(velocity);
}
break;
case 2: //gets item 0, only required one, and gets out of there to nab time bonus
if(!game.haveObject(0))
{
gotoItem(0);
}
else
{
location[0] = -itemLoc[0] * 0.5;
location[1] = 0.12 - (itemLoc[1] - 0.12) * 0.5;
api.setPositionTarget(location);
}
break;
case 3: //makes it to the end, shrinks any visible obstacles.
velocity[1] = -0.07;
api.setVelocityTarget(velocity);
count = game.getVisibleObstacles(visibleObstacles);
if(count != 0)
{
for(int i = 1; i <= count; i++)
{
game.shrinkObstacle(i);
}
}
break;
default: break;
}
}
void loop(){
api.getMyZRState(sphere);
if(startObstacle)
{
game.startObstacle();
startObstacle = false;
}
if(isStart < 3)
{
startX = sphere[0];
if(startX > 0)
{
resetRotationTorque = 0.0005;
torques[2] = -0.005;
}
else if(startX < 0)
{
resetRotationTorque = -0.0005;
torques[2] = 0.005;
}
api.setTorques(torques);
isStart = isStart + 1;
}
switch(game.getCurrentPhase()) // 1 is area 1, 2 is area 2, 3 is area 3
{
case 1:
if(game.getRemainingMaterial() < 0.03)
{
game.stopObstacle();
if(abs(sphere[11]) > minAngularSpeed)
{
torques[2] = resetRotationTorque;
api.setTorques(torques);
}
velocity[1] = 0.055; //min distance for item
api.setVelocityTarget(velocity);
}
break;
case 2:
if(!game.haveObject(0))
{
gotoItem(0);
}
else
{
location[0] = -itemLoc[0] * 0.5;
location[1] = 0.12 - (itemLoc[1] - 0.12) * 0.5;
api.setPositionTarget(location);
}
break;
case 3:
velocity[1] = -0.07;
api.setVelocityTarget(velocity);
count = game.getVisibleObstacles(visibleObstacles);
if(count != 0)
{
for(int i = 1; i <= count; i++)
{
game.shrinkObstacle(i);
}
}
break;
default: break;
}
}
void loop() {
//Variable Initialization
time ++;
api.getMyZRState(myState);
api.getOtherZRState(otherState);
phase = game.getCurrentPhase();
fuel = game.getFuelRemaining();
myScore = game.getScore();
otherScore = game.getOtherScore();
dust = game.getRemainingMaterial();
chg = game.getCharge();
if (time < 2) {
red = statePos(myState)[0] < floatZero;
}
//Debug Console
DEBUG(("\nDevilTech Message Screen: Fall 2012\n"));
#if printDebug
DEBUG(("Debug Info\n"));
DEBUG(("\tTime (s)\t%d\tPhase\t%d\tPlayer\t%s\n", time, phase, (red ? "Red" : "Blue")));
DEBUG(("\tFuel\t%.3f\tDust\t%.3f\tChg\t%d\n", fuel, dust, chg));
DEBUG(("\tScore\t%.2f\tOther Score\t%.2f\n", myScore, otherScore));
DEBUG(("\tOther Message\t%u\n", otherMessage));
printVec("\tMy Pos (m)", statePos(myState));
printVec("\tMy Vel (m/s)", stateVel(myState));
printVec("\tMy Att (unitvec)", stateAtt(myState));
printVec("\tMy AngVel (rad/s)", stateAngVel(myState));
printVec("\tOther Pos (m)", statePos(otherState));
printVec("\tOther Vel (m/s)", stateVel(otherState));
printVec("\tOther Att (unitvec)", stateAtt(otherState));
printVec("\tOther AngVel (rad/s)", stateAngVel(otherState));
#endif
vec att = {floatZero, -1.0f, floatZero};
if (!obsCreated) {
if (makeObs(red ? -0.17f : 0.17f, -0.63f)) obsCreated ++;
}
else if (obsCreated == 1) {
if (makeObs(red ? -0.47f : 0.47f, -0.03f)) obsCreated ++;
}
else if (phase == 1) {
vec temp = {norm((red ? -0.45f : 0.45f) - myState[0], 0.015f), 0.05f, floatZero};
setVelocity(temp);
//api.setAttitudeTarget(att);
}
else {
if (!game.haveObject(0)) getItem(0);
else if (!game.haveObject(1) && !game.otherHasObject(1)) getItem(1);
else if (!game.haveObject(2) && !game.otherHasObject(2) && !game.haveObject(1)) getItem(2);
else {
if (game.haveObject(1) || game.haveObject(2)) {
api.setAttitudeTarget(att);
}
vec temp = {floatZero, floatZero, floatZero};
if (phase == 2) {
vec temp2 = {(red ? 0.04f : -0.04f), 0.09f, floatZero};
attToTarget(myState, temp2, temp);
vecScale(temp, 0.057f);
temp[2] = maintainZ();
setVelocity(temp);
}
else {
if (!alreadySet) {
alreadySet = true;
top = myState[2] > floatZero;
}
if (myState[1] > -0.4f) {
remDust();
temp[0] = norm((red ? 0.045f : -0.045f) - myState[0], 0.015f);
temp[1] = -0.051f;
temp[2] = maintainZ();
}
else if (myState[1] > -0.6f) {
temp[0] = norm((red ? 0.045f : -0.045f) - myState[0], 0.015f);
temp[1] = -0.022f;
temp[2] = maintainZ();
}
else {
temp[0] = norm((red ? 0.045f : -0.045f) - myState[0], 0.015f);
temp[1] = floatZero;
temp[2] = (top ? -0.055f : 0.055f);
DEBUG(("Top:\t%d\t%.3f\n", top, temp[2]));
}
setVelocity(temp);
}
}
}
}
void loop() {
//Constant Variables
zeroVec[0] = zeroVec[1] = zeroVec[2] = floatZero;
//Variable Initialization
time ++;
api.getMyZRState(myState);
api.getOtherZRState(otherState);
phase = game.getCurrentPhase();
dust = game.getRemainingMaterial();
chg = game.getCharge();
if (!time)
red = myState[0] < floatZero;
if (time < 30 && otherState[1] > 0.1f)
otherRush = true;
//Trilateration
api.getMyZRState(tripos[time]);
game.pingForItems(tridis[time]);
//Debug Console
#if printDebug
DEBUG(("\nUS#7 DevilTech BACON Hart District\nMessage Screen: Fall 2012\n"));
DEBUG(("Debug Info\n"));
DEBUG(("\tTime (s)\t%d\tPhase\t%d\tPlayer\t%s\n", time, phase, (red ? "Red" : "Blue")));
DEBUG(("\tFuel\t%.3f\tDust\t%.3f\tChg\t%d\n", game.getFuelRemaining(), dust, chg));
DEBUG(("\tMy Score\t%.3f\tOther Score\t%.3f\n", game.getScore(), game.getOtherScore()));
DEBUG(("\tObstacles Created\t%d\n", obsCreated));
DEBUG(("\tOther Rush\t%d\n", otherRush));
printVec("\tMy Pos (m)", myState);
printVec("\tMy Vel (m/s)", (myState + 3));
printVec("\tMy Att (unitvec)", (myState + 6));
printVec("\tMy AngVel (rad/s)", (myState + 9));
printVec("\tOther Pos (m)", otherState);
printVec("\tOther Vel (m/s)", (otherState + 3));
printVec("\tOther Att (unitvec)", (otherState + 6));
printVec("\tOther AngVel (rad/s)", (otherState + 9));
#endif
//Game Logic
if (time < 4) {
api.setVelocityTarget(makeVec(floatZero, floatZero, 0.0095f));
}
if (!time) {
game.startObstacle();
return;
}
if (time == 1) {
game.stopObstacle();
}
if (!game.haveObject(0)) {
if (!game.haveObject(1) && !game.otherHasObject(1))
getOne;
else
getZero;
}
else {
vec temp = {(red ? 0.15f : -0.15f), floatZero, myState[2]};/*
if (!obsDetected && ((red && myState[0] > -0.05f) || (!red && myState[0] < 0.05f))) {
int res = game.extendView();
if (printDebug) {
DEBUG(("Extending View: %d\n", res));
}
}*/
float tryy[7] = {(otherRush ? myState[2] : 0.38f), 0.11f, 0.22f, 0.34f, 0.45f, 0.55f, 0.68f};
obsDetected = game.getIdentifiedObstacles(obstacles);
bool shr = false;
for (int i = 0; i < 7; i ++) {
if (printDebug)
DEBUG(("\tTrying %.3f\n", tryy[i]));
bool good = true;
temp[2] = tryy[i];
for (int j = 0; j < obsDetected; j ++) {
temp[1] = obstacles[j].loc[1];
if (printDebug) {
DEBUG(("\t\tID %d, rad %.3f\n", obstacles[j].ID, obstacles[j].size));
printVec("\t\tLocation", obstacles[j].loc);
DEBUG(("\t\tDis %.3f\n", disBetweenPts(obstacles[j].loc, temp)));
}
if (disBetweenPts(obstacles[j].loc, temp) < obstacles[j].size + 0.058f) {
good = false;
break;
}
if (!shr && obstacles[j].visible) {
DEBUG(("\t\tShrinking\n"));
shr = true;
game.shrinkObstacle(obstacles[j].ID);
}
}
if (good) {
if (printDebug)
DEBUG(("Decided %.3f\n", tryy[i]));
temp[2] = tryy[i];
break;
}
}
temp[1] = floatZero;
if ((red && myState[0] < floatZero) || ((!red && myState[0] > floatZero))) {
goStraight(temp, 1, -0.024f);
}
else if (myState[1] > -0.66f) {
goStraight(temp, 1, (myState[1] > -0.48f && fabs(myState[2] - temp[2]) < 0.058f ? -0.0475f : -0.0235f));
}
else {
if (!alreadySet) {
alreadySet = true;
top = myState[2] > floatZero;
}
temp[1] = -0.71f;
goStraight(temp, 2, top ? -0.055f : 0.055f);
}
}
}
