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Umbrella167 · May 4, 2024 · 0557bb8 · 0557bb8
1 parent a3cae20
commit 0557bb8
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Showing 5 changed files with 22 additions and 110 deletions.
diff --git a/Core/HuRocos-2024/play/our_BallPlacement.lua b/Core/HuRocos-2024/play/our_BallPlacement.lua
@@ -148,6 +148,8 @@ firstState = "start",
 ["getball"] = {
   switch = function()
     GlobalMessage.Tick = Utils.UpdataTickMessage(vision,param.our_goalie_num,param.defend_num1,param.defend_num2)
+    debugEngine:gui_debug_msg(CGeoPoint(0,2800),"ballRights: " .. GlobalMessage.Tick.ball.rights,2)
+    debugEngine:gui_debug_msg(CGeoPoint(0,2600),"InfraredCount: " .. player.myinfraredCount("Assister"),3)
     if ball.pos():dist(ball.placementPos()) < 200 then
         return "avoid"
     end

diff --git a/Core/tactics/play/TestballRightAndInfraed.lua b/Core/tactics/play/TestballRightAndInfraed.lua
@@ -13,7 +13,7 @@ local KP = 0.00000002
 local defendPos = function(role)
 	return function()
 		local posdefend = enemy.pos(role) + Utils.Polar2Vector(300,(ball.pos() - enemy.pos(role)):dir())
-		return CGeoPoint:new_local( posdefend:x(),posdefend:y() )
+		return CGeoPoint:new_local(posdefend:x(),posdefend:y() )
 	end
 end
 local run_pos = CGeoPoint:new_local(0,0)
@@ -31,118 +31,21 @@ firstState = "ready1",
 
 ["ready1"] = {
 	switch = function()
-		debugEngine:gui_debug_msg(CGeoPoint(1000, 1000), player.dir("Goalie"))
 
 		GlobalMessage.Tick = Utils.UpdataTickMessage(vision,0,1,2)
-		-- debugEngine:gui_debug_msg(CGeoPoint(0,0),task.angleDiff((ball.pos() - player.pos("Assister")):dir(),(player.pos("Assister") - CGeoPoint(0,0)):dir()))
-		-- if(player.infraredCount("Assister") > 5) then
-		-- 	return "shoot"
-		-- end
-
+		debugEngine:gui_debug_msg(CGeoPoint(0,2800),"ballRights: " .. GlobalMessage.Tick.ball.rights)
+		debugEngine:gui_debug_msg(CGeoPoint(0,2600),"InfraredCount: " .. player.myinfraredCount(0),2)
+		debugEngine:gui_debug_msg(CGeoPoint(0,2400),"RawBallPos: " .. ball.rawPos():x() .. "    " .. ball.rawPos():y() ,3)
+		debugEngine:gui_debug_msg(CGeoPoint(0,2200),"BallPos: " .. ball.pos():x() .. "    " .. ball.pos():y() ,4)
 	end,
 
-	Assister = task.goCmuRush(CGeoPoint(3671,1148)), 
-	-- Assister = task.getballV2("Assister", param.playerVel, 1, CGeoPoint(0, 0), 0),
-	-- Kicker = task.getball("Assister",param.playerVel,param.getballMode,CGeoPoint:new_local(0,0)), 
-	-- Kicker = function() return task.defender_marking("Kicker",CGeoPoint(0,0)) end,
+	Assister = task.stop(), 
 	match = "[A]"
 },
 
 
 
-["shoot"] = {
-	switch = function()
-		if(not bufcnt(player.infraredOn("Assister"),1)) then
-			return "ready1"
-		end
-		local Vy = player.rotVel("Assister")
-		local ToTargetDist = player.toPointDist("Assister",shoot_pos)
-		resPos = task.compensateAngle(Vy,shoot_pos,ToTargetDist * 0.07)
-
-		if(task.playerDirToPointDirSub("Assister",resPos) < 4) then 
-			return "shoot1"
-		end
-
-
-	end,
-	 -- = task.TurnRun("Assister"),
-	Assister = function() return (task.TurnToPointV2("Assister",function() return resPos end ,param.rotVel)) end,
-	-- match = "[AKS]{TDG}"
-	match = "[A]"
-},
-
-
-["shoot1"] = {
-	switch = function()
-if(not bufcnt(player.infraredOn("Assister"),1)) then
-			return "ready1"
-		end
-	end,
-	 -- = task.TurnRun("Assister"),
-	Assister = task.ShootdotV2(function() return resPos end,10,8,kick.flat),
-	-- match = "[AKS]{TDG}"
-	match = "[A]"
-},
-["dribbling"] = {
-	switch = function()
-		Utils.UpdataTickMessage(vision,1,2)
-		run_pos = Utils.GetShowDribblingPos(vision,CGeoPoint:new_local(player.pos("Assister"):x(),player.pos("Assister"):y()),CGeoPoint(0,0))
-
-		if(bufcnt(true,35)) then 
-			return "ready"
-		end
-	end,
-	Assister = task.goCmuRush(runPos(),balldir(),800,flag.dribbling),
-
-	match = "[AKS]{TDG}"
-},
-
-
--- ["touch"] = {
--- 	switch = function()
--- 		-- Utils.UpdataTickMessage(vision,1,2)
--- 		-- Utils.GlobalComputingPos(vision)
-
--- 	end,
--- 	Assister = task.touchKick("Assister",CGeoPoint(4500,0)),
-
--- 	match = "[AKS]{TDG}"
--- },
-
--- ["readyShoot"] = {
--- 	switch = function()
--- 		Utils.GetTouchPos(vision,CGeoPoint:new_local(ball.posX(),ball.posY()))
--- 		-- local pos1 = Utils.GetBestInterPos(vision,playerPos(),4,2)
--- 		-- debugEngine:gui_debug_x(pos1,3)
--- 		-- debugEngine:gui_debug_msg(CGeoPoint:new_local(0,0),pos1:x() .. "  " .. pos1:y())
--- 		-- Utils.UpdataTickMessage(vision,1,2)
--- 		-- Utils.GlobalComputingPos(vision)
--- 		-- aa = player.canTouch("Assister",CGeoPoint:new_local(4500,0))
--- 		-- debugEngine:gui_debug_msg(CGeoPoint:new_local(0,0),tostring(aa))
--- 		-- if(player.infraredCount("Assister") > 30) then 
--- 		-- 	return "Shoot"
--- 		-- end
--- 	end,
--- 	Assister = task.goCmuRush(defendPOs(4)),--task.touchKick(_,_,500,kick.flat);--task.getball("Assister",6,2),--task.GetBallV2("Assister",CGeoPoint(4500,0)),
--- 	Kicker = task.goCmuRush(defendPOs(5)),
-
--- 	match = "(AK)"
--- },
--- ["Shoot"] = {
--- 	switch = function()
--- 		-- Utils.UpdataTickMessage(vision,1,2)
--- 		-- Utils.GlobalComputingPos(vision)
--- 		if(player.kickBall("Assister")) then 
--- 			return "readyShoot"
--- 		end
--- 	end,
--- 	Assister = task.ShootdotV2(CGeoPoint(4500,0),KP,error_dir,kick.flat),
-
--- 	match = "[AKS]{TDG}"
--- },
-
-
-name = "testSkill",
+name = "TestballRightAndInfraed",
 applicable ={
 	exp = "a",
 	a = true

diff --git a/ZBin/lua_scripts/worldmodel/player.lua b/ZBin/lua_scripts/worldmodel/player.lua
@@ -282,7 +282,16 @@ end
 function myinfraredCount(role)
 	local robotNum = num(role)
 	if robotNum ~= -1 then
-		return GlobalMessage.Tick.task[robotNum].infrared_count
+		local OfficalInfraredCount = world:InfraredOnCount(robotNum)
+		local MyInfraredCount = GlobalMessage.Tick.task[robotNum].infrared_count
+		if OfficalInfraredCount ~= 0 then
+			if OfficalInfraredCount > MyInfraredCount then
+				return OfficalInfraredCount
+			else
+				return MyInfraredCount
+			end
+		end
+		return MyInfraredCount
 	else
 		return 0
 	end

diff --git a/ZBin/lua_scripts/worldmodel/task.lua b/ZBin/lua_scripts/worldmodel/task.lua
@@ -6,8 +6,6 @@ module(..., package.seeall)
 
 --- ///  /// --- /// /// --- /// /// --- /// /// --- /// /// ---
 
-
-
 function getBall_BallPlacement(role)
 	return function()
 		local ballPos = GlobalMessage.Tick.ball.pos
@@ -36,12 +34,11 @@ function getBall_BallPlacement(role)
 			end
 		else
 			-- debugEngine:gui_debug_msg(CGeoPoint(100,1000),player.myinfraredCount(role))
+
 			if player.myinfraredCount(role) < 20 then
-
 				local toballDir = math.abs((ball.rawPos() - player.rawPos(role)):dir() * 57.3)
 				local playerDir = math.abs((player.pos(role) -  ballPlacementPos):dir()) * 57.3
 				local Subdir = math.abs(toballDir-playerDir)
-
 				if bufcnt( Subdir < 18 and player.toBallDist(role) < 200,60) then
 					debugEngine:gui_debug_msg(CGeoPoint(0,0),"3")
 					placementflag = flag.our_ball_placement + flag.dribbling

diff --git a/share/staticparams.h b/share/staticparams.h
@@ -54,7 +54,8 @@ namespace PARAM {
         const int playerFrontToCenter = 76; // 机器人圆心到嘴的距离
         const int playerRadiusr = 90; // 机器人半径
         const int playerBuffer = 100; // 检测敌人是否在某直线上的缓冲值
-        const double playerBallRightsBuffer = 95; // 球权判断缓冲值
+        const double playerBallRightsBuffer = 102; // 球权判断缓冲值
+
         const int playerTouchAngle = 60;
     }
     namespace Tick{