void strategyB(bool useLift)
{
displayCenteredTextLine(6, "Strategy B");
//strafeDist(15, 30, dRight);
gyroTurn(30, 15, dRight);
travelDistance(15, dBackward);
goalCenter(useLift);
gyroTurn(30, 10, dLeft);
strafeDist(45, 50, dLeft);
travelDistance(125, dBackward);
}
void strategyC(bool useLift)
{
displayCenteredTextLine(6, "Strategy C");
//strafeDist(50, 75, dRight);
gyroTurn(30, 48, dRight);
strafeDist(25, 75, dRight);
travelDistance(21, dBackward);
goalCenter(useLift);
gyroTurn(30, 10, dLeft);
strafeDist(45, 75, dLeft);
travelDistance(125, dBackward);
}
void strategyA(bool useLift)
{
displayCenteredTextLine(6, "Strategy A");
gyroTurn(30, 90, dLeft);
stopMotors();
wait1Msec(100);
travelDistance(40, dBackward);
wait1Msec(100);
strafeDist(27, 100, dLeft);
wait1Msec(100);
goalCenter(useLift);
strafeDist(45, 50, dLeft);
gyroTurn(30, 10, dLeft);
travelDistance(125, dBackward);
}
void GoaliePen::doBlock()
{
cout << "[Goalie-Penalty] i'm blocking " << endl;
Point pole1 = pWorldData->ourPole1;
Point pole2 = pWorldData->ourPole2;
pole1.x *= -1;
pole2.x *= -1;
Point myPoint1,myPoint2;
Line firstLine,secondLine;
Point ballPos = pWorldData->basedCenter(pWorldData->ball());
Point nearstOppToBall = pWorldData->basedCenter(pWorldData->opponent(pWorldData->getNearstOppToPoint(ballPos)));
Point goalCenter((pole1.getX() + pole2.getX()) / 2, (pole1.getY() + pole2.getY()) / 2);
Point blockPoint;
if(pole1.getX() < 0)
{
myPoint1.x = pole1.getX() + 100;
myPoint1.y = pole1.getY();
myPoint2.x = pole2.getX() + 100;
myPoint2.y = pole2.getY();
}
else
{
myPoint1.x = pole1.getX() - 100;
myPoint1.y = pole1.getY();
myPoint2.x = pole2.getX() - 100;
myPoint2.y = pole2.getY();
}
firstLine.setByPoints(myPoint1,myPoint2);
secondLine.setByPoints(nearstOppToBall,goalCenter);
firstLine.getLineIntersect(secondLine,blockPoint);
cout << "[Goalie-Penalty][doBlock] blockPoint: " << blockPoint << endl;
pBasicPlayer->go(blockPoint.getX(),blockPoint.getY());
}
void PenaltyPlan::decide()
{
vector <int> opps = pWorldData->mr_found_opponents();
Vector Me = pWorldData->me(true);
Point ballPos = pWorldData->basedCenter(pWorldData->ball());
Point me(Me.getX() , Me.getY());
Point nearstOppToMe;
if(opps.size() != 0)
nearstOppToMe = pWorldData->basedCenter(pWorldData->opponent(pWorldData->getNearstOppToPoint(Me)));
Point pole1 = pWorldData->oppPole1;
Point pole2 = pWorldData->oppPole2;
Point goalCenter((pole1.getX() + pole2.getX()) / 2, (pole1.getY() + pole2.getY()) / 2);
if(opps.size() != 0)
{
if(!pBasicPlayer->can_kick())
{
cout << "[PenaltyPlan] i'm dribbling" << endl;
doDribble();
}
else
{
if(me.getDistance(goalCenter) > 190)
{
cout << "[PenaltyPlan] i'm dribbling" << endl;
doDribble();
}
else
{
cout << "[PenaltyPlan] my dist from goalCenter: " << me.getDistance(goalCenter) << endl;
cout << "[PenaltyPlan] i'm shooting" << endl;
doShoot();
}
}
}
}
