睿抗足球机器人Day4

一、一次传球（踢球）代码

（1）C++代码

 这是C++代码里面的chuanqiu2代码

#include "ball.h"
#include "basevision.h"
#include "constants.h"
#include "FilteredObject.h"
#include "game_state.h"
#include "historylogger.h"
#include "matchstate.h"
#include "maths.h"
#include "PlayerTask.h"
#include "referee_commands.h"
#include "robot.h"
#include "singleton.h"
#include "util.h"
#include "vector.h"
#include "worldmodel.h"

extern "C"_declspec(dllexport) PlayerTask player_plan(const WorldModel* model, int robot_id);
PlayerTask player_plan(const WorldModel* model, int robot_id)
{
	PlayerTask task;
	//传球机器人的位置朝向
	//获取中场机器人的向量坐标
	const point2f&reciver_pos = model->get_our_player_pos(2);
	//获取中场机器人的朝向
	const float& reciver_dir = model->get_our_player_dir(2);
	//获取球的向量坐标
	const point2f&ball_pos = model->get_ball_pos();
	//接球机器人的位置朝向
	//获取前锋机器人的向量坐标
	const point2f&kicker_pos = model->get_our_player_pos(1);
	//获取前锋机器人的朝向
	const float& kicker_dir = model->get_our_player_dir(1);
	
	//判断球是否在小车控球嘴上，从两个参数着手：1.判断ball到车的距离是否小于某个值，2.车头方向和车到球矢量角度之差值是否小于某个值
	bool get_ball = (ball_pos - kicker_pos).length() < get_ball_threshold - 25 && (fabs(anglemod(kicker_dir - (ball_pos - kicker_pos).angle())) < PI / 6);
	if (get_ball)
	{
		//执行平击踢球，力度为最大127
		task.kickPower = 127;
		//踢球开关
		task.needKick = true;
		//挑球开关
		task.isChipKick = false;
	}

	return task;
}

 重点：

bool get_ball = (ball_pos - kicker_pos).length() < get_ball_threshold - 25 && (fabs(anglemod(kicker_dir - (ball_pos - kicker_pos).angle())) < PI / 6);

 修改这个代码的数值会让机器人在找到自己位置之后，判断是否要踢球的时候更加的精确，失误率更小

（2）lua脚本代码

gPlayTable.CreatePlay{
firstState = "GetBall",
["GetBall"] = {
  switch = function() 
   if CIsGetBall("Kicker")then
       return "PassBall"
    end
  end,
  Kicker = task.KickerTask("chuanqiu1"),
  receiver = task.ReceiverTask("jieqiu")
},
["PassBall"] = {
  switch = function() 
   if CIsBallKick("Kicker")then
       return "Finish"
    end
  end,
  Kicker = task.KickerTask("chuanqiu2"),
},
name = "chuanqiu3" 
}

（3）C++里面的chuanqiu1和jieqiu代码

 chuanqiu1

#include "ball.h"
#include "basevision.h"
#include "constants.h"
#include "FilteredObject.h"
#include "game_state.h"
#include "historylogger.h"
#include "matchstate.h"
#include "maths.h"
#include "PlayerTask.h"
#include "referee_commands.h"
#include "robot.h"
#include "singleton.h"
#include "util.h"
#include "vector.h"
#include "worldmodel.h"
 
extern "C"_declspec(dllexport) PlayerTask player_plan(const WorldModel* model, int robot_id);
PlayerTask player_plan(const WorldModel* model, int robot_id)
{
	PlayerTask task;
 
	//获取对方机器人的向量坐标
	const point2f& kicker_pos = model->get_opp_player_pos(2);
	//获取对方球员的朝向
	const float&kicker_dir = model->get_opp_player_dir(2);
	//获取球的向量坐标
	const point2f&ball_pos = model->get_ball_pos();
	//这里设定face_dir是接球机器人朝向球的方向
	const float&face_dir = (kicker_pos - ball_pos).angle();
	//到达目标点朝向：队员正对球
	task.orientate = face_dir;
	//需要到达目标点的坐标=球的位置+向量偏移距离//fac_dir反方向偏移200
	task.target_pos = ball_pos - Maths::vector2polar(20, face_dir);
 
	return task;
}

jieqiu

#include "ball.h"
#include "basevision.h"
#include "constants.h"
#include "FilteredObject.h"
#include "game_state.h"
#include "historylogger.h"
#include "matchstate.h"
#include "maths.h"
#include "PlayerTask.h"
#include "referee_commands.h"
#include "robot.h"
#include "singleton.h"
#include "util.h"
#include "vector.h"
#include "worldmodel.h"
 
extern "C"_declspec(dllexport) PlayerTask player_plan(const WorldModel* model, int robot_id);
PlayerTask player_plan(const WorldModel* model, int robot_id)
{
	PlayerTask task;
 
	//获取对方机器人的向量坐标
	const point2f& player_pos = model->get_opp_player_pos(robot_id);
	//获取对方球员的朝向
	const float&player_dir = model->get_opp_player_dir(robot_id);
	//获取球的向量坐标
	const point2f&ball_pos = model->get_ball_pos();
	//这里设定face_dir是接球机器人朝向球的方向
	const float&face_dir = (player_pos - ball_pos).angle();
	//到达目标点朝向：队员正对球
	task.orientate = face_dir;
	//需要到达目标点的坐标=球的位置+向量偏移距离//fac_dir反方向偏移200
	task.target_pos = ball_pos - Maths::vector2polar(200, face_dir);
   
	return task;
}