/*
Keep running until time is up (may want to use some
distance measure instead)
*/
eState StrategyGoStraight::apply()
{
eState nNewState = knGoStraight; // assume we will keep running
if (TargetInSight() && ((int)m_nCallCount/50.0>GO_STRAIGHT_NO_TRACK_TIME))
{
// Target spotted, switch to Track state
nNewState = knTrack;
m_nCallCount = 0; // reset call count in case we ever re-enter
}
else if (getKeepMoving())
{
m_nCallCount++; // track the number of times we have been called
float xval = m_gyroDriveCtrl->calcPID(m_gyro->GetAngle());
m_robotDrive->ArcadeDrive(-1.0, xval, false);
//m_pickup->Drive(-0.4,true);
}
else
{
// time is up, switch to Spin state
nNewState = knSpin;
m_nCallCount = 0; // reset call count in case we ever re-enter
}
return nNewState;
}
void CCharacter::Update( float dTime )
{
NNObject::Update(dTime);
clock_t currentTime = clock();
ShowHitEffect(dTime);
UpdateHPBar();
UpdateZindex();
UpdateAttackTarget();
//현재 얼어있는 상태라면 이동/공격이 불가
if(m_Freeze) {
CheckMeltingTime(currentTime);
} else {
//AttackTarget을 설정하고 Attack이 가능하면(사정거리 체크)
//공격하고 그렇지 않으면 이동, 시야에 없으면 앞으로 전진
if(TargetInRange()) {
if( CheckAttackTiming(currentTime) ) {
AttackEnemy(currentTime);
}
} else if (TargetInSight() ) {
GoToAttackTarget(dTime);
} else {
GoForward(dTime);
}
}
}
/*
Keep running until time is up (may want to use some
distance measure instead)
*/
eState StrategyCurveLeft::apply()
{
eState nNewState = knCurveLeft; // assume we will keep running
if (TargetInSight()&&((int)m_nCallCount/50.0>CURVE_LEFT_NO_TRACK_TIME))
{
// Target spotted, switch to Track state
nNewState = knTrack;
m_nCallCount = 0; // reset call count in case we ever re-enter
}
else if (getKeepMoving())
{
m_nCallCount++; // track the number of times we have been called
m_gyroDriveCtrl->setDesiredValue(45.0f/50.0/3.0*(int)m_nCallCount);//take 5s to curve 45deg
float xval = m_gyroDriveCtrl->calcPID(m_gyro->GetAngle());
m_robotDrive->ArcadeDrive(-0.5-((int)m_nCallCount)/50.0/2.0/5.0, xval, false);//take 5s to get up to full speed
//m_robotDrive->ArcadeDrive(-1.0, -0.9, false);
//m_pickup->Drive(-0.4,true);
}
else
{
// time is up, switch to Spin state
nNewState = knSpin;
m_nCallCount = 0; // reset call count in case we ever re-enter
}
return nNewState;
}
/*
Spin on the spot
*/
eState StrategySpin::apply()
{
eState nNewState = knSpin; // assume we will keep running
// Keep turning until we find a target
if (TargetInSight())
{
// start tracking the target
nNewState = knTrack;
}
else
{
if (m_kbot->getAutoDirection())
{
m_robotDrive->ArcadeDrive(-0.8, -0.9, false);
}
else
{
m_robotDrive->ArcadeDrive(-0.8, 0.9, false);
}
}
return nNewState;
}
