Merge branch 'main' of https://github.com/Umbrella167/Rocos

Core/HuRocos-2024/PlayConfig.lua

@@ -17,7 +17,7 @@ gRefConfig = {
     GameHalt = "HALT",
     GameStop = "STOP",
     OurTimeout = "HALT",
-    TheirIndirectKick = "NORMALPLAY",
+    TheirIndirectKick = "NORMALPLAYV2",
     OurIndirectKick = function()
         if ball.posX() > 3000 then 
             return "our_CornerKick"
@@ -33,6 +33,6 @@ gRefConfig = {
     OurBallPlacement = "our_BallPlacement",
     TheirPenaltyKick = "their_Penalty",
     OurPenaltyKick = "our_Penalty",
-    NormalPlay = "NORMALPLAY" -- {"NORMALPLAY", "NORMALPLAYV2"},
+    NormalPlay = "NORMALPLAYV2" -- {"NORMALPLAY", "NORMALPLAYV2"},
 }
 --]]

Core/HuRocos-2024/play/HALT.lua

@@ -6,15 +6,13 @@ switch = function()
 end,
 ["halt"] = {
 
-	["Leader"]   = task.stop(),
+	["Kicker"]   = task.stop(),
 	["Special"]  = task.stop(),
 	["Assister"] = task.stop(),
-	["Defender"] = task.stop(),
-	["Middle"]   = task.stop(),
-	["Center"]   = task.stop(),
-	["Breaker"]  = task.stop(),
+	["Center"] = task.stop(),
+	["Defender"]   = task.stop(),
 	["Goalie"]   = task.stop(),
-	match = "[LSADMCB]"
+	match = "[AKSC]{DG}"
 },
 
 name = "HALT",

Core/HuRocos-2024/play/NORMALPLAYV2.lua

@@ -202,7 +202,7 @@ local getState = function ()
             resultState =  "Getball"
         end
 
-        if Utils.InExclusionZone(ball.pos(), param.dribblingExclusionDist, "all") and ball_rights ~= 0  and resultState ~= "ShootPoint" then
+        if Utils.InExclusionZone(ball.pos(), param.dribblingExclusionDist, "all") and ball_rights ~= 0  then
             resultState =  "dribbling"
         end
 
@@ -326,7 +326,7 @@ firstState = "Init",
     switch = function()
         UpdataTickMessage(our_goalie_num,defend_num1,defend_num2)
         local State = getState()
-        if bufcnt(true,30) or State == "Getball" then
+        if bufcnt(true,35)then -- or State == "Getball" 
             return State
         end
 

Core/HuRocos-2024/play/Nor_Dribbling.lua

@@ -30,7 +30,7 @@ local dribblingDir = function(role)
     end
 end
 local dribblingCount = 0
-local dribblingVel = 1000
+local dribblingVel = 3000
 local canShootAngle = 30
 local showPassPos = param.shootPos
 return {

Core/HuRocos-2024/play/Nor_Shoot.lua

@@ -32,7 +32,6 @@ local debugMesg = function ()
 		debugEngine:gui_debug_msg(resShootPos,"rotCompensatePos",6,0,param.debugSize)
 		debugEngine:gui_debug_x(param.shootPos,6,0,param.debugSize)
 		debugEngine:gui_debug_msg(param.shootPos,"ShootPos",6,0,param.debugSize)
-
 end
 return {
 
@@ -69,7 +68,7 @@ firstState = "Init",
 		end
 		local Vy = player.rotVel("Assister")
 		local ToTargetDist = player.toPointDist("Assister",param.shootPos)
-		resShootPos = task.compensateAngle("Assister",Vy,param.shootPos,ToTargetDist * param.rotCompensate)
+		resShootPos = task.compensateAngle("Assister",Vy,param.shootPos,ToTargetDist * param.rotCompensate(player.num("Assister")))
 	end,
 	Assister = task.getball(function() return shoot_pos end,param.playerVel,param.getballMode),
 	match = "[A]"
@@ -90,14 +89,14 @@ firstState = "Init",
 		end
 		local Vy = player.rotVel("Assister")
 		local ToTargetDist = player.toPointDist("Assister",param.shootPos)
-		resShootPos = task.compensateAngle("Assister",Vy,param.shootPos,ToTargetDist * param.rotCompensate)
+		resShootPos = task.compensateAngle("Assister",Vy,param.shootPos,ToTargetDist * param.rotCompensate(player.num("Assister")))
 
 		if(task.playerDirToPointDirSub("Assister",resShootPos) < param.shootError) then 
 			return "shoot"
 		end
 
 	end,
-	Assister = function() return task.TurnToPointV2("Assister", function() return resShootPos end,param.rotVel()) end,
+	Assister = function() return task.TurnToPointV2("Assister", function() return resShootPos end,param.rotVel(player.num("Assister"))) end,
 	match = "{A}"
 },
 
@@ -107,13 +106,14 @@ firstState = "Init",
 		debugMesg()	
 		if(bufcnt(player.myinfraredCount("Assister") < 1,1)) then
 			return "getball"
-		end
+	end
 
 		if(task.playerDirToPointDirSub("Assister",resShootPos) > param.shootError) then 
 			return "getball"
 		end
+
 	end,
-	Assister = task.ShootdotV2(function() return resShootPos end, param.shootError, kick.flat ),
+	Assister = task.ShootdotV2(function() return resShootPos end, param.shootError,function() return (player.num("Assister") == 3 and param.Team == "TWO") and kick.chip() or kick.flat() end),
 	match = "{A}"
 },
 

Core/HuRocos-2024/play/STOP.lua

@@ -26,6 +26,7 @@ local defendpos = {
   CGeoPoint(-3300,-850),
 
 }
+local a = 1800
 local DSS_FLAG = bit:_or(flag.allow_dss, flag.dodge_ball)
 gPlayTable.CreatePlay {
 
@@ -38,13 +39,13 @@ firstState = "start",
       return "exit"
     end
   end,
-  Kicker   = task.goCmuRush(middlePos,dir.playerToBall,DSS_FLAG),
-  Assister = task.goCmuRush(leftPos,dir.playerToBall,DSS_FLAG),
-  Special  = task.goCmuRush(rightPos,dir.playerToBall,DSS_FLAG),
-  Tier = task.goCmuRush(defendpos[3],dir.playerToBall,DSS_FLAG),
-  Defender = task.goCmuRush(defendpos[2],dir.playerToBall,DSS_FLAG),
+  Kicker   = task.goCmuRush(middlePos,dir.playerToBall,a,DSS_FLAG),
+  Assister = task.goCmuRush(leftPos,dir.playerToBall,a,DSS_FLAG),
+  Special  = task.goCmuRush(rightPos,dir.playerToBall,a,DSS_FLAG),
+  Center = task.goCmuRush(defendpos[3],dir.playerToBall,a,DSS_FLAG),
+  Defender = task.goCmuRush(defendpos[2],dir.playerToBall,a,DSS_FLAG),
   Goalie = task.goCmuRush(defendpos[1],dir.playerToBall),
-  match = "[AKS]{TDG}"
+  match = "[AKSC]{DG}"
 },
 
 name = "STOP",

Core/HuRocos-2024/play/our_KickOff.lua

@@ -112,7 +112,6 @@ ballRights = -1
 shoot_pos = CGeoPoint:new_local(param.pitchLength / 2,0)
 -- 被传球机器人
 pass_player_num = 0
-
 -- touch power
 touchPower = 4000
 
@@ -188,34 +187,31 @@ firstState = "ready",
 	Assister   = task.goCmuRush(p1, Dir_ball("Assister"),_,DSS_FLAG),
 	Special  = task.goCmuRush(p3, Dir_ball("Special"),_,DSS_FLAG),
 	Kicker = task.goCmuRush(p2, Dir_ball("Kicker"),_,DSS_FLAG),
-	Tier = task.goCmuRush(p7, Dir_ball("Tier"),_,DSS_FLAG),
+	Center = task.goCmuRush(p7, Dir_ball("Center"),_,DSS_FLAG),
 	Defender = task.goCmuRush(p6, Dir_ball("Defender"),_,DSS_FLAG),
     Goalie = task.goalie("Goalie"),
-    match = "[ASK]{TDG}"
+    match = "[ASKC]{DG}"
 },
 
 ["OtherRunPos"] = {
 	switch = function ()
-
-		if   GlobalMessage.Tick().ball.rights == -1 then 
+		if GlobalMessage.Tick().ball.rights == -1 then 
 			return "exit"
 		end
-
 		if(player.kickBall("Assister")) then
 			return "SpecialTouch"
 		end
 	end,
 	Assister = task.Shootdot("Assister",runPos_Special(-400), 5, kick.flat),
 	Special = task.goCmuRush(runPos_Special(-400), Dir_ball("Special"), a, f, r, v),
 	Kicker = task.goCmuRush(runPos_Kicker(-400), Dir_ball("Kicker"), a, f, r, v),
-	-- Tier = task.Shootdot("Tier",playerPos("Special"), shootKp, 5, kick.flat),
-	-- Defender = task.defender_defence("Defender"),
     Goalie = task.goalie("Goalie"),
-	match = "{ASKTDG}"
+    match = "[ASKC]{DG}"
+
 },
 ["SpecialTouch"] = {
 	switch = function ()
-		if   GlobalMessage.Tick().ball.rights == -1 then 
+		if GlobalMessage.Tick().ball.rights == -1 then 
 			return "exit"
 		end
 		if(player.kickBall("Special")) then
@@ -225,16 +221,13 @@ firstState = "ready",
 	Assister = task.goCmuRush(runPos_Assister(-400), Dir_ball("Assister"), a, DSS_FLAG, r, v),
 	Special = task.touchKick(runPos_Kicker(0), false, param.shootKp, kick.flat),
 	Kicker = task.goCmuRush(runPos_Kicker(-400), Dir_ball("Kicker"), a, f, r, v),
-	-- Tier = task.defender_defence("Tier"),
-	-- Defender = task.defender_defence("Defender"),
     Goalie = task.goalie("Goalie"),
 	match = "{ASKTDG}"
 },
 
 
 ["KickerTouch"] = {
 	switch = function ()
-
 		if   GlobalMessage.Tick().ball.rights == -1 then 
 			return "exit"
 		end

Core/HuRocos-2024/play/our_Penalty.lua

@@ -4,7 +4,7 @@ local p2 = CGeoPoint(- param.pitchLength / 2 + 300,param.pitchWidth / 2 - 600)
 local p3 = CGeoPoint(- param.pitchLength / 2 + 300, -param.pitchWidth / 2 + 300)
 local p4 = CGeoPoint(- param.pitchLength / 2 + 300,-param.pitchWidth / 2 + 600)
 local p5 = CGeoPoint(- param.pitchLength / 2 , 0)
-local shootThreshold = 3000
+local shootThreshold = 2500
 
 local canShoot = function(role,ishootThreshold)
 	if ball.posX() > ishootThreshold then
@@ -35,7 +35,7 @@ local shootFlag = function(role)
 end
 
 local Power = function(role,shoot_flag,ishootThreshold)
-	local ipower = 100
+	local ipower = 110
 	local ishoot_falg
 	if type(shoot_flag) == 'function' then
 		ishoot_falg = shoot_flag()
@@ -44,11 +44,11 @@ local Power = function(role,shoot_flag,ishootThreshold)
 	end
 	if ball.posX() > ishootThreshold then
 		if (ishoot_falg == kick.chip()) then
-			ipower = 130
+			ipower = 7000
 		end 
 	else
 		if (ishoot_falg == kick.chip()) then
-			ipower = 110
+			ipower = 7000
 		end 
 	end
 	return ipower
@@ -98,10 +98,10 @@ firstState = "Init1",
 
 ["getball"] = {
 	switch = function()
+
 		shoot_flag = shootFlag("Assister")
 		param.shootPos = Utils.GetShootPoint(vision,player.num("Assister"))
-
-		if player.myinfraredCount("Assister") > 15 then
+		if player.myinfraredCount("Assister") > 5 then
 			if shoot_flag == 2 then
 				return "shoot_dribbling"
 			else
@@ -115,6 +115,9 @@ firstState = "Init1",
 ["turnToPoint"] = {
 	switch = function()
 		shoot_flag = shootFlag("Assister")
+		if ball.posX() > shootThreshold then
+			return "shoot_point"
+		end
 		if(bufcnt(player.myinfraredCount("Assister") < 1,4)) then
 			return "getball"
 		end
@@ -133,14 +136,17 @@ firstState = "Init1",
 },
 ["shoot_dribbling"] = {
 	switch = function()
+		if ball.posX() > shootThreshold then
+			return "shoot_point"
+		end
 		param.shootPos = Utils.GetShootPoint(vision,player.num("Assister"))
 		shoot_flag = shootFlag("Assister")
 		debugEngine:gui_debug_msg(CGeoPoint(0,0),shoot_flag)
-		if(bufcnt(player.myinfraredCount("Assister") < 1,1)) then
+		if player.myinfraredCount("Assister") < 1 then
 			return "getball"
 		end
 	end,
-	Assister = task.ShootdotDribbling(param.shootError,function() return shoot_flag end ,function() return  Power("Assister",function() return shoot_flag end ,shootThreshold) end),
+	Assister = task.ShootdotDribbling(param.shootError + 10,function() return shoot_flag end ,function() return  Power("Assister",function() return shoot_flag end ,shootThreshold) end),
     match = "{A}"
 },
 

Core/src/Utils/utils.cpp

@@ -24,7 +24,8 @@ GlobalTick Tick[PARAM::Tick::TickLength];
 int now = PARAM::Tick::TickLength - 1;
 int last = PARAM::Tick::TickLength - 2;
 CGeoPoint lastMovePoint = CGeoPoint(inf, inf);
-double playerInfraredCountBuffer = 100;// 红外判断缓冲值
+double playerInfraredCountBuffer = 95; //场地 3 红外判断缓冲值
+//double playerInfraredCountBuffer = 100;  //场地 2 红外判断缓冲值
 double playerBallRightsBuffer = 110;// 球权判断缓冲值
 double pass_threshold = 0.1; //射门阈值
 namespace Utils
@@ -102,8 +103,8 @@ namespace Utils
 
                 // 如果球的视野消失，但是有红外信息，认为球的位置在触发红外的机器人上
                 if(!pVision ->ball().Valid())
-                    if(RobotSensor.InfraredOnCount(i)>5)
-                        Tick[now].ball.pos = pVision->ourPlayer(i).Pos()+Polar2Vector(120,pVision->ourPlayer(i).Dir());
+                    if(RobotSensor.InfraredOnCount(i)>5 && pVision->ourPlayer(i).Pos().dist(Tick[now].ball.pos) < 1000)
+                        Tick[now].ball.pos = pVision->ourPlayer(i).Pos()+Polar2Vector(85,pVision->ourPlayer(i).Dir());
                 // 我方距离球最近的车号
                 double to_ball_dist = pVision->ourPlayer(i).Pos().dist(Tick[now].ball.pos);
                 if (our_min_dist > to_ball_dist)

Core/tactics/play/TestCircleRun.lua

@@ -11,7 +11,6 @@ end
 
 local rotNewPos = function()
 
-
 end 
 
 
@@ -23,7 +22,7 @@ firstState = "ready1",
 		debugEngine:gui_debug_msg(CGeoPoint:new_local(0,0),player.rotVel("Assister"))
 	end,
 
-	Assister = task.TurnRun(CGeoPoint(300,0),5),
+	Assister = task.TurnRun(CGeoPoint(120,60),6),
 	match = "[A]"
 },
 

Core/tactics/skill/Getball.lua

@@ -59,7 +59,7 @@ function Getball(task)
 			[1] = {100,1},
 			[2] = {0,1},
 			[3] = {0,1},
-			[4] = {0,1},	
+			[4] = {500,1},	
 			[5] = {0,1},
 			[6] = {200,1.2},
 			[7] = {0,1},