void Shoot::pointSelector()
{
Point thisPoint;
float lineValue;
float highestValue = 0;
float i;
float dis2Point = 9999;
if (whichGoal == 'o')
{
thisPoint.x = pWorldData->oppPole1.getX();
}
if (whichGoal == 't')
{
thisPoint.x = pWorldData->ourPole1.getX();
}
selectedPoint = (0,0);
reachPoints();
//this is for checking that there is actually a selected points :
if (firstReachablePoint.getX() == 0 && lastReachablePoint.getX() == 0)
{
selectedPoint.x = 0;
selectedPoint.y = 0;
can_i_shoot = false;
}
else
{
for (i = firstReachablePoint.getY(); i >= lastReachablePoint.getY(); i -= 3)
{
thisPoint.y = i;
lineValue = getLineValue(ballPos, thisPoint);
if (lineValue == 100 && ballPos.getDistance(thisPoint) < dis2Point)
{
selectedPoint = thisPoint;
dis2Point = ballPos.getDistance(thisPoint);
highestValue = 100;
}
if (lineValue > highestValue)
{
highestValue = lineValue;
selectedPoint = thisPoint;
}
}
}
if (selectedPoint == (0 ,0))
can_i_shoot = false ;
else if (getLineValue(ballPos, selectedPoint) == 0)
can_i_shoot = false;
else
can_i_shoot = true;
}
float Shoot::shootLastValue()
{
if (can_i_shoot == 1)
return getLineValue(ballPos, selectedPoint);
else
return 0;
}
float Pass::passLastValue()
{
if (bestTeammate != -1)
{
return getLineValue(ballPos, pWorldData->basedCenter(pWorldData->teammate(bestTeammate)));
}
else
{
return 0;
}
}
int main() {
init(0);
int count = 0;
int proportional_signal = 1;
while (count < 2000) {
proportional_signal = getLineValue();
if (proportional_signal < 0) {
rightMotor = (50 - (proportional_signal / (160)) * 175);
leftSpeed = (50 + (proportional_signal / (160)) * 175);
}
else if (proportional_signal > 0) {
rightMotor = (50 - (proportional_signal / (160)) * 175);
leftMotor = (50 + (proportional_signal / (160)) * 175);
}
else {
leftMotor = -80;
rightMotor = -80;
}
printf("%d\n", leftMotor);
printf("%d\n", rightMotor);
set_motor(1, leftMotor);
set_motor(2, rightMotor);
count++;
}
return 0;
}
void Pass::bestTeammateSelector()
{
float maxValue = 0;
//float zaribNextStep = 1;
float zaribLineValue = 1;
float thisValue;
//163 = kick dist with power 1 and 35 = teammate kickable radius
float passReachableDist = 163.927 + 35;
float safeValue = 100;
float maxDistFromGoal = 0;
vector <int> tmms = pWorldData->mr_found_teammates();
Point thisTeammate;
Point ourGoal;
ourGoal.x = pWorldData->ourPole1.getX();
ourGoal.y = (pWorldData->ourPole1.getY() + pWorldData->ourPole2.getY()) / 2;
bestTeammate = -1;
for (int i = 0; i < tmms.size(); i++)
{
if (tmms[i] != callerUid)
{
thisTeammate = pWorldData->tmmPositions[i];
if (ballPos.getDistance(thisTeammate) > passReachableDist)
{
thisValue = 0;
}
else
{
thisValue = zaribLineValue * getLineValue(ballPos, thisTeammate);
if (thisValue == safeValue * zaribLineValue && ourGoal.getDistance(thisTeammate) > maxDistFromGoal)
{
bestTeammate = tmms[i];
maxValue = thisValue;
maxDistFromGoal = ourGoal.getDistance(thisTeammate);
}
else if (thisValue > maxValue && getLineValue(ballPos, thisTeammate) != 0)
{
maxValue = thisValue;
bestTeammate = tmms[i];
}
}
}
}
//if we call the pass for another uid it won't check myID (for passing) so we have to do it by ourself
if (callerUid != pWorldData->my_id())
{
thisTeammate.x = pWorldData->me(true).getX();
thisTeammate.y = pWorldData->me(true).getY();
if (ballPos.getDistance(thisTeammate) > passReachableDist)
{
thisValue = 0;
}
else
{
thisValue = zaribLineValue * getLineValue(ballPos, thisTeammate);
if (thisValue == safeValue * zaribLineValue && ourGoal.getDistance(thisTeammate) > maxDistFromGoal)
{
bestTeammate = pWorldData->my_id();
maxDistFromGoal = ourGoal.getDistance(thisTeammate);
}
else if (thisValue > maxValue && getLineValue(ballPos, thisTeammate) != 0)
{
maxValue = thisValue;
bestTeammate = pWorldData->my_id();
}
}
}
}