--StrategyY---------------------------------------
--------------------------------------------------

--To use RSViewer first declare to global variable "Display"
-------------------------
global ftop, fbot, gRight, gLeft,fRightX,fLeftX, DISPLAY 
global y1,y2,y3,y4,y5,ball,blist,pball
global bpLast,BB1,BB2,i


on strategyY

--(RSViewer) You can format a string like the one below(this one diplays the ball and y3 coords) 
-----------------------
display = "i " & i && "ballpos x" & ball.x & " y" & ball.y && "Y3 pos x= " & y3.pos.x && " y =  " & y3.pos.y
-------------------------
--RSViewer can be run from blue or yellow strategies 
---YellowTeam----------------------------------------------
  
  predictBall()
  goalie1(y1)
  --attackball(y2)
  --attackball(y3)
  --attack3(y2)
  --attack3(y3) 
  decideAttack(y4,y5)
  decideDefend(y2,y3)
  --posdef1(y2)
  --posdef2(y3)
end
-------------------------------
on decideAttack(attack1,attack2)
  if pBall.x -10> attack1.pos.X or pBall.x -10 > attack2.pos.X then
    retreat = false
  end if 
  
  if pBall.x > attack1.pos.X and pBall.x > attack2.pos.X and retreat = false then 
    At1 = vector(attack1.pos.X,attack1.pos.Y,0)
    At2 = vector(attack2.pos.X,attack2.pos.Y,0)
    BLL = vector(pBall.X,pBall.Y,0)
    if At1.distanceTo(BLL)<At2.distanceTo(BLL) then
      attackBall(attack1)
      supportattack(attack2,attack1.pos)
    else
      attackBall(attack2)
      supportattack(attack1,attack2.pos)
    end if 
    
  else if pBall.x > attack1.pos.X then
    attackBall(attack1)
    supportattack(attack2,attack1.pos)
  else if pBall.x > attack2.pos.X then
    attackBall(attack2)
    supportattack(attack1,attack2.pos)
  else
    retreat = true
    supportattack(attack1,pBall)
    supportattack(attack2,attack1.pos)
  end if 
  
end decideAttack

-------------------------------
on decideDefend(def1,def2)
  if pBall.x -3> def1.pos.X then
    retreat2 = false
  end if 
  if pBall.x -3> def2.pos.X then
    retreat3 = false
  end if 
  
  if Ball.x > def1.pos.X and retreat2 = false then
    --attackBall(def1)
    posdef1(def1)
  else
    retreat2=true
    supportattack(def1,ball)
  end if      
  if Ball.x > def2.pos.X and retreat3 = false then
    --attackBall(def2)
    posdef2(def2)
  else
    retreat3=true
    supportattack(def2,ball)
  end if 
  if retreat2= false and def1.pos.x < 20 then
    gopos = vector(25,55,1)
    supportattack(def1,gopos)
  end if 
  if retreat3= false and def2.pos.x < 20 then
    gopos = vector(25,25,1)
    supportattack(def2,gopos)
  end if 
  
  
end decideDefend
-------------------------------
on Goalie1(whichBot)
  vr = 0
  vl = 0
  
  Z = ball --member(1).model("Ball").transform.position
  Tx =  Z.x - gleft
  Ty =  Z.y - fbot
  A = whichBot.pos
  A.x =  A.x - gleft
  A.y = A.y - fbot
  
  R = whichBot.rot.z 
  if  R < .001 then R = R + 360
  if R >360.001 then R = R - 360
  -----------------
  if A.y > Ty + .9 and A.y > 27 then
    vr = -100
    vl =-100
  end if 
  if A.y < Ty -.9 and A.y < 43 then
    vr = 100
    vl =100
    
  end if 
  if A.y < 27 then
    vr = 100
    vl =100
  end if 
  if A.y > 43 then
    vr = -100
    vl =-100
  end if 
  ----------------------------
  if R > 90.5 then 
    vl = vl + abs(R - 90)
  else if R  < 89.5 then 
    vr = vr + abs(R - 90)
  end if 
  --------------------
  velocity(whichBot , vl,vr)
end
-----------------
on attack2(whichBot)
  r = whichbot.rot.z
  T = ball
  A = whichbot.pos
  vr = 50
  vl = 20
  if r < 160 or T.y < (A.y - 8)  then
    vr = vr 
    vl = vl + 20
  else
    vr = vr + 40 
    vl = vl 
  end if
  
  --if r > 160 and T.y < A.y  then
  --vr = vr +10
  --else if r < 200 and T.y > T.y  then
  --vl = vl+ 10
  --end if 
  
  
  --f r > 180 or T.y < (A.y + 8)  then
  --vr = vr 
  --vl = vl  + 40
  --end if
  
  velocity(whichBot , vl,vr)
end
----------------------------

on attack3(whichBot)
  vr = 0
  vl = 0
  T = member(1).model("Ball").transform.position
  A = whichBot.pos
  R = whichBot.rot.z
  if  R < 1 then R = R +360
  
  vr = 50
  vl = 50
  if A.x <(T.x -10) and R >340 and R < 20 then 
    vr = 50
    vl = 50
  else  if A.x <(T.x -10) and R <340 or R > 20 then 
    vr = 20
    vl = 20
  end if 
  if  A.x >(T.x -20) then 
    vr = 50
    vl = 50
  else if  A.x >(T.x -20) then   
    vr = 20
    vl = 20
  end if 
  if A.x <(T.x -15) then
    if R < 340 and R  > 180 then
      vr = vr+55
      vl =  vl - 30
    end if 
    if R > 20 and R < 180 then
      vr = vr -30
      vl = vl +55
    end if 
  end if 
  
  if A.x >(T.x -15) and R <355 and R > 180 and abs(A.y - T.y) < 1 then
    vr = vr+55
    vl =  vl 
  end if 
  if A.x >(T.x -15) and R > 5 and R < 180 and abs(A.y - T.y) < 1 then
    vr = vr 
    vl = vl +55
  end if 
  if A.x <(T.x -20) and A.y = (T.y ) or  A.y = (T.y) then
    vr = vr 
    vl =vl 
  else if A.x <(T.x -20) and A.y >(T.y) then
    vr = vr 
    vl =vl +1.40
  else if  A.x <(T.x -20) and A.y <(T.y  )  then
    vr = vr +1.40
    vl =vl 
  end if 
  if  A.x >(T.x +1) then
    vr = 60
    vl = 40
    --else if  A.x>T.x - 1  then
    --vr = 50
    --vl =50
  end if 
  velocity(whichBot , vl,vr)
end
-----------------------****
on attackball(whichbot)
  T = pball
  A = whichBot.pos
  R = whichBot.rot .z
  vr = 0
  vl=0
  dX = A.x - T.x
  dY = A.y - T.y 
  angletopoint = getAngleToPoint(whichbot,pBall)
  -------------------------
  
  if  R  > (angleToPoint ) and dx < 0 then 
    vl = vl + abs(R - angleToPoint)
  end if
  if  R < (angleToPoint ) and dx < 0 then 
    vr = vr + abs(R - angleToPoint)
  end if
  
  if  R  > (angleToPoint ) and dx > 0 then 
    vl = vl + abs(angleToPoint-R)
    --put abs(angleToPoint-R)
  end if
  if  R < (angleToPoint ) and dx > 0 then 
    vr = vr + abs(angleToPoint-R)
    --put abs(angleToPoint-R)
  end if
  
  if  abs(R  - (angleToPoint )) < 40  then 
    vr = 100
    vl= 100
    if R < angletopoint and dx <= 0 then 
      vl = vl-  10
    end if 
    if R > angleToPoint and dx <= 0 then
      vr = vr - 10
    end if 
    if R < angletopoint and dx > 0 then 
      vl = vl -  10
    end if 
    if R > angleToPoint and dx > 0 then
      vr = vr - 10
    end if 
  end if 
  ---------------------------------attackball
  ----------------------slow for boundry  
  nearBound(whichBot,vl,vr)
  -------------------------
  --velocity(whichBot,vl,vr)  
end attackball
----------------------supAtt
on supportattack(whichbot,att)
  fcenter = (ftop - fbot)/2
  T = ball
  if att.y > fcenter then T.y = att.y - 20
  if att.y < fcenter then T.y = att.y + 20
  --T.y = (ftop - fbot) - att.pos.y --+ fcenter
  if ball.x > 20 then T.x = Ball.x - 15
  if ball.x <= 20 then T.x = 20
  A = whichBot.pos
  R = whichBot.rot .z
  vr = 0
  vl=0
  dX = A.x - T.x
  dY = A.y - T.y 
  angletopoint = getAngleToPoint(whichbot,T)
  -------------------------
  
  if  R  > (angleToPoint ) and dx < 0 then 
    vl = vl + abs(R - angleToPoint)
  end if
  if  R < (angleToPoint ) and dx < 0 then 
    vr = vr + abs(R - angleToPoint)
  end if
  
  if  R  > (angleToPoint ) and dx > 0 then 
    vl = vl + abs(angleToPoint-R)
    --put abs(angleToPoint-R)
  end if
  if  R < (angleToPoint ) and dx > 0 then 
    vr = vr + abs(angleToPoint-R)
    --put abs(angleToPoint-R)
  end if
  
  if  abs(R  - (angleToPoint )) < 40  then 
    vr = 100
    vl= 100
    if R < angletopoint and dx <= 0 then 
      vl = vl-  10
    end if 
    if R > angleToPoint and dx <= 0 then
      vr = vr - 10
    end if 
    if R < angletopoint and dx > 0 then 
      vl = vl -  10
    end if 
    if R > angleToPoint and dx > 0 then
      vr = vr - 10
    end if 
  end if 
  ---------------------------------Supatt
  ----------------------slow for boundry  
  nearBound(whichBot,vl,vr)
  -------------------------
  --velocity(whichBot,vl,vr)  
end supportattack
-----------------------PredictBall-------
on predictBall
  
  blast = getAt(blist, i - 1)
  pX = ball.x + (ball.x - blast.x)
  pY = ball.y + (ball.y - blast.y)
  pBall = vector(pX,pY,0)
  --put "b " & ball
  --put "pB " & pball
  --put "bl " & Blast
end predictball

-------------------------nearBound
on nearBound(whichBot,vl,vr)
  T = ball
  A = whichBot.pos
  R = whichBot.rot .z
  
  
  if A.y > (ftop - 15) and R > 45 And R < 130 then 
    if vr > 0 then      
      vr = vr / 3
    end if 
    if vl > 0 then      
      vl = vl / 3
    end if 
  end if 
  
  if A.y < (fbot + 15) and R < -45 And R > -130 then
    if vr > 0 then      
      vr = vr / 3
    end if 
    if vl > 0 then      
      vl = vl / 3
    end if 
  end if 
  if A.x >(fRightX - 10) then
    if vr > 0 then      
      vr = vr / 2
    end if 
    if vl > 0 then      
      vl = vl / 2
    end if 
  end if 
  if A.x <(fLeftX +10) then
    if vr > 0 then      
      vr = vr / 2
    end if 
    if vl > 0 then      
      vl = vl / 2
    end if 
  end if 
  velocity(whichBot , vl,vr)
end
-----------------------------
on posDef1(whichBot)
  vr = 0
  vl = 0
  
  Z = ball 
  Tx =  Z.x - gleft
  Ty =  Z.y - fbot
  A = whichBot.pos
  A.x =  A.x - gleft
  A.y = A.y - fbot
  
  R = whichBot.rot.z 
  if  R < .001 then R = R + 360
  if R >360.001 then R = R - 360
  -----------------
  if A.y > Ty + .9 and A.y > 40 then
    vr = -100
    vl =-100
  end if 
  if A.y < Ty -.9 and A.y < 90 then
    vr = 100
    vl =100
    
  end if 
  if A.y < 40 then
    vr = 100
    vl =100
  end if 
  if A.y > 90 then
    vr = -100
    vl =-100
  end if 
  ----------------------------
  if R > 90.5 then 
    vl = vl + abs(R - 90)
  else if R  < 89.5 then 
    vr = vr + abs(R - 90)
  end if 
  --------------------
  nearBound(whichBot,vl,vr)
end
----------------------------
on posDef2(whichBot)
  vr = 0
  vl = 0
  
  Z = pball 
  Tx =  Z.x 
  Ty =  Z.y 
  A = whichBot.pos
  --A.x =  A.x - gleft
  --A.y = A.y - fbot
  
  R = whichBot.rot.z 
  if  R < -180 then R = R + 360
  if R >180 then R = R - 360
  -----------------
  if A.y >= ball.y and A.y > 3 then
    vr =-100
    vl =-100
  end if 
  if A.y <= ball.y and A.y < 40 then
    vr = 100
    vl =100
    
  end if 
  if A.y <= 3 then
    vr = 100
    vl =100
  end if 
  if A.y >= 40 then
    vr = -100
    vl =-100
  end if 
  ----------------------------
  if R > 90.5 then 
    vl = vl + abs(R - 90)
  else if R  < 89.5 then 
    vr = vr + abs(R - 90)
  end if 
  --------------------
  nearBound(whichBot,vl,vr)
end
------------------------------
on getangletopoint(whichbot,ptarget)
  T = ptarget
  A = whichBot.pos
  R = whichBot.rot .z
  
  ------------------------------avoidBoundry
  if t.y > (ftop - 2.5) then t.y = (ftop - 2.5)
  if t.y < (fbot + 2.5) then t.y = (fbot + 2.5)
  if t.x >(fRightX - 2.5) then t.x = (fRightX - 2.5)
  if t.x <(fLeftX +2.5) then t.x = (fLeftX +2.5)
  dX = A.x - T.x
  dY = A.y - T.y 
  -----------------------
  
  angleToPoint = atan(abs(dY/dX)) * 180.0/pi()
  if(dX > 0) then
    if(dY > 0) then
            angleToPoint = 360 + angleToPoint - 180
     -- put "a " & angleToPoint
    else  if(dY < 0) then 
          angleToPoint = 360 - angleToPoint -180
     -- put "b " & angleToPoint
        end if 
  end if
  if(dX < 0) then
    if(dY > 0) then
            angleToPoint = 180 - angleToPoint -180
      --put "c " & angleToPoint
    else  if(dY < 0) then 
          angleToPoint = 180 + angleToPoint -180
      --put "d " & angleToPoint
        end if      
  end if 
  if angleToPoint > 180 then angleToPoint= angleToPoint - 360
  if angleToPoint < -180 then angleToPoint= angleToPoint + 360
  
  return (angleToPoint)
end