package Domains.SoccerBots.teams;/* * SibHeteroG.java */import  EDU.gatech.cc.is.util.Vec2;import  EDU.gatech.cc.is.abstractrobot.*;//Clay not used/** * Mark Sibenac * 1999-10-05 * * Sib's Heterogeneous Team derived a lot from the BasicTeam by Tucker Balch * * Major changes include a cherry picker and a goalie who hugs the goal. * * If the player is pushing the ball towards his own goal, he is forbidden to * kick. Only the goalie is allowed to kick when the ball is close to our goal. * * The cherry picker waits in the middle of the field for the ball to appear * after a reset. It is taking advantage of the system, and it works! * */public class SibHeteroG extends ControlSystemSS        {        public void Configure()                {                }                        public int TakeStep()                {                // the eventual movement command is placed here                Vec2    result = new Vec2(0,0);                Vec2    mypos = new Vec2(abstract_robot.getPosition(-1));                // get the current time for timestamps                long    curr_time = abstract_robot.getTime();                /*--- Get some sensor data ---*/                // get vector to the ball                Vec2 ball = abstract_robot.getBall(curr_time);                // get vector to our and their goal                Vec2 ourgoal = abstract_robot.getOurGoal(curr_time);                Vec2 theirgoal = abstract_robot.getOpponentsGoal(curr_time);                // get a list of the positions of our teammates                Vec2[] teammates = abstract_robot.getTeammates(curr_time);                // find the closest teammate                Vec2 closestteammate = new Vec2(99999,0);                for (int i=0; i< teammates.length; i++)                        {                        if (teammates[i].r < closestteammate.r)                                closestteammate = teammates[i];                        }                /*--- now compute some strategic places to go ---*/                // compute a point one robot radius                // behind the ball towards the goal                Vec2 kickspot = new Vec2(ball.x, ball.y);                kickspot.sub(theirgoal);                kickspot.setr(abstract_robot.RADIUS);                kickspot.add(ball);                // compute a point three robot radii                // behind the ball.                Vec2 backspot = new Vec2(ball.x, ball.y);                backspot.sub(theirgoal);                backspot.setr(abstract_robot.RADIUS*5);                backspot.add(ball);                // compute the cherry picker's spot                Vec2 cherry = new Vec2(-0.2,0.0);                if (mypos.x+ourgoal.x > 0)                    cherry.setx(0.2);                cherry.sub(mypos);                // compute a north and south spot                Vec2 northspot = new Vec2(backspot.x,backspot.y+1.525/4);                Vec2 southspot = new Vec2(backspot.x,backspot.y-1.525/4);                // compute a position between the ball and defended goal                double y = ball.y;                if (ball.y > 0.0 && mypos.y > 0.2) y = 0.0;                else if (ball.y < 0.0 && mypos.y < -0.2) y = 0.0;                Vec2 goaliepos = new Vec2(ourgoal.x, y);                // a direction away from the closest teammate.                Vec2 awayfromclosest = new Vec2(closestteammate.x,                                closestteammate.y);                awayfromclosest.sett(awayfromclosest.t + Math.PI);                /*--- go to one of the places depending on player num ---*/                int mynum = abstract_robot.getPlayerNumber(curr_time);                                double far_away = abstract_robot.RADIUS * 5;                double kick_dist = abstract_robot.RADIUS*1.1;                /*--- Goalie ---*/                if (mynum == 0)                    {                        // go to the goalie position if far from the ball                        if (ball.r > 0.5)                            {                                result = goaliepos;                            } // otherwise go to kick it                        else if (ball.r > kick_dist)                             result = kickspot;                        else                             result = ball;                    }                /*--- midback ---*/                else if (mynum == 1)                    {                        // go to a midback position if far from the ball                        if ((ball.r > far_away) || (mypos.r > far_away))                            result = cherry; // cherry picking position                        // otherwise go to kick it                        else if (ball.r > kick_dist)                            result = kickspot;                        else                             result = ball;                        // keep away from others                        if (closestteammate.r < abstract_robot.RADIUS*2)                            {                                result = awayfromclosest;                            }                    }                else if (mynum == 2)                        {                        // go to a the northspot position if far from the ball                            if (ball.r > far_away)                                result = northspot;                        // otherwise go to kick it                            else if (ball.r > kick_dist)                                result = kickspot;                            else                                 result = ball;                        // keep away from others                        if (closestteammate.r < abstract_robot.RADIUS*2)                                {                                result = awayfromclosest;                                }                        }                else if (mynum == 4)                        {                        // go to a the southspot position if far from the ball                            if (ball.r > far_away)                                result = southspot;                        // otherwise go to kick it                            else if (ball.r > kick_dist)                                result = kickspot;                            else                                 result = ball;                        // keep away from others                        if (closestteammate.r < abstract_robot.RADIUS*2)                                {                                result = awayfromclosest;                                }                        }                /*---Lead Forward ---*/                else if (mynum == 3)                        {                        // if we are more than 4cm away from the ball                            if (ball.r > kick_dist)                                // go to a good kicking position                                result = kickspot;                        else                                // go to the ball                                result = ball;                        }                /*--- Send commands to actuators ---*/                // set the heading                abstract_robot.setSteerHeading(curr_time, result.t);                // set speed at maximum                abstract_robot.setSpeed(curr_time, 1.0);                // kick it if we can only if we are not going to kick it                // into the goal                if (abstract_robot.canKick(curr_time))                    {                        if ((ourgoal.x+mypos.x < 0 && mypos.x > -2.74/4) ||                            (ourgoal.x+mypos.x > 0 && mypos.x < 2.74/4) ||                            (mynum == 0))                            abstract_robot.kick(curr_time);                    }                // tell the parent we're OK                return(CSSTAT_OK);                }        }