stage

Core/HuRocos-2024/PlayConfig.lua

@@ -32,7 +32,7 @@ gRefConfig = {
     TheirBallPlacement = "theirBallPlacement",
     OurBallPlacement = "our_BallPlacement",
     TheirPenaltyKick = "STOP",
-    OurPenaltyKick = "STOP",
-    NormalPlay = "NORMALPLAY",
+    OurPenaltyKick = "our_Penalty",
+    NormalPlay = "NORMALPLAY" -- {"NORMALPLAY", "NORMALPLAYV2"},
 }
 --]]

Core/HuRocos-2024/play/Nor_DefendV2.lua

@@ -7,8 +7,8 @@ return {
         switch = function()
 
         end,
-        Breaker = function() return task.defend_normV2("Tier", 0, 1) end,
-        Fronter = function() return task.defend_normV2("Defender", 1, 1) end,
+        Breaker = function() return task.defend_normV2("Tier", 0, 0) end,
+        Fronter = function() return task.defend_normV2("Defender", 1, 0) end,
         match = "[TD]"
     },
     ["defend_front"] = {

Core/HuRocos-2024/play/our_Penalty.lua

@@ -0,0 +1,79 @@
+local DSS_FLAG = flag.allow_dss + flag.dodge_ball
+local p1 = CGeoPoint(- param.pitchLength / 2 + 300,param.pitchWidth / 2 - 300)
+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 canShoot = function(role,shootThreshold)
+	if ball.posX() > shootThreshold then
+		return true
+	else
+		return false
+	end
+end
+
+local theirGoalie = function()
+	for i=0,param.maxPlayer do
+		if enemy.valid(i) then
+			if enemy.pos(i):x() > ball.posX() then
+				return i
+			end
+		end
+	end
+	return -1
+end
+
+local shootFlag = function(role)
+	if player.pos(role):dist(enemy.pos(theirGoalie)) < 500 then
+
+	end
+end
+gPlayTable.CreatePlay{
+firstState = "Init",
+
+["Init"] = {
+	switch = function()
+		debugEngine:gui_debug_msg(CGeoPoint(0,0),ball.posX())
+		if cond.isNormalStart() then
+			return "Getball"
+		end
+	end,
+	Leader = function() return task.goCmuRush(function() return ball.pos() + Utils.Polar2Vector(-180,0) end, player.toBallDir("Leader"), a, DSS_FLAG) end,
+    Kicker = task.goCmuRush(p1, 0, a, DSS_FLAG, r, v, s, force_manual),
+    Special = task.goCmuRush(p2, 0, a, DSS_FLAG, r, v, s, force_manual),
+    Tier = task.goCmuRush(p3, 0, a, DSS_FLAG, r, v, s, force_manual),
+    Defender = task.goCmuRush(p4, 0, a, DSS_FLAG, r, v, s, force_manual),
+    Goalie = task.goCmuRush(p5, 0, a, DSS_FLAG, r, v, s, force_manual),
+    match = "{L}[KS]{TDG}"
+},
+
+["Getball"] = {
+	switch = function()
+		debugEngine:gui_debug_msg(CGeoPoint(0,0),ball.posX())
+		if player.myinfraredCount > 15 and (not canShoot) then
+			return "shoot_dribbling"
+		end
+	end,
+	Leader = task.getball(function() return shoot_pos end,playerVel,getballMode),
+    match = "{L}"
+},
+
+
+["shoot_dribbling"] = {
+	switch = function()
+		debugEngine:gui_debug_msg(CGeoPoint(0,0),ball.posX())
+		if player.myinfraredCount > 15 and (not canShoot) then
+			return "closeTheir"
+		end
+
+	end,
+    match = "{L}"
+},
+name = "our_Penalty",
+applicable ={
+	exp = "a",
+	a = true
+},
+attribute = "attack",
+timeout = 99999
+}

Core/HuRocos-2024/play/their_IndirectKick.lua

@@ -307,7 +307,7 @@ firstState = "Init",
     Goalie = task.goalie("Goalie"),
     match = "(AKS){TDG}"
 },
-name = "their_BallPlacement",
+name = "their_IndirectKick",
 applicable ={
     exp = "a",
     a = true

Core/src/Utils/utils.cpp

@@ -96,8 +96,12 @@ namespace Utils
             {
 
                 Tick[now].task[i].player_num = i;
-                if (Tick[now].task[i].infrared_count == 0)
+                if (i != Tick[now].our.dribbling_num)
+                    Tick[now].task[i].infrared_count = 0;
+                if (Tick[now].task[i].infrared_count == 0 )
                     Tick[now].task[i].infrared_off_count += 1;
+
+
                 // 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)
@@ -195,7 +199,7 @@ namespace Utils
             Tick[now].ball.rights = 0;
         // 顶牛 或 抢球对抗
 //        printf("our minTob%f,their %f", our_min_dist, their_min_dist);
-        if((RobotSensor.InfraredOnCount(Tick[now].our.to_balldist_min_num) > 5 || our_min_dist < playerBallRightsBuffer) && their_min_dist < playerBallRightsBuffer - 15)
+        if((RobotSensor.InfraredOnCount(Tick[now].our.to_balldist_min_num) > 5 || our_min_dist < playerBallRightsBuffer + 5) && their_min_dist < playerBallRightsBuffer +5)
         {
             Tick[now].ball.rights = 2;
         }

Core/tactics/play/TestCircleRun.lua

@@ -23,7 +23,7 @@ firstState = "ready1",
 		debugEngine:gui_debug_msg(CGeoPoint:new_local(0,0),player.rotVel("Assister"))
 	end,
 
-	Assister = task.TurnRun(CGeoPoint(60,60),4),
+	Assister = task.TurnRun(CGeoPoint(300,0),5),
 	match = "[A]"
 },
 

ZBin/lua_scripts/Config.lua

@@ -25,6 +25,7 @@ gRoleFixNum = {
         ["Goalie"]   = { param.our_goalie_num },
         ["Defender"] = { param.defend_num1 },
         ["Tier"]     = { param.defend_num2 },
+        ["Leader"]     = { param.LeaderNum },
 }
 
 -- 用来进行定位球的保持

ZBin/lua_scripts/worldmodel/ball.lua

@@ -1,19 +1,18 @@
 module(..., package.seeall)
 
 function pos()
-    local ballPos = vision:ball():Pos()
-    if not vision:ball():Valid() then
-        ballPos = GlobalMessage.Tick().ball.pos
-    end
+    local ballPos = GlobalMessage.Tick().ball.pos
     return CGeoPoint(ballPos:x(),ballPos:y()) 
 end
 
 function posX()
-    return vision:ball():X()
+    local ballPos = GlobalMessage.Tick().ball.pos
+    return ballPos:x()
 end
 
 function posY()
-    return vision:ball():Y()
+    local ballPos = GlobalMessage.Tick().ball.pos
+    return ballPos:y()
 end
 
 function rawPos()

ZBin/lua_scripts/worldmodel/param.lua

@@ -15,7 +15,7 @@ playerInfraredCountBuffer = CGetSettings("ZJHU/playerInfraredCountBuffer", "Int"
 our_goalie_num            = CGetSettings("ZJHU/our_goalie_num", "Int")
 defend_num1               = CGetSettings("ZJHU/defend_num1", "Int")
 defend_num2               = CGetSettings("ZJHU/defend_num2", "Int")
-
+LeaderNum = 3
 -----------------------------------------------|
 --                feild参数                  --|
 -----------------------------------------------|

ZBin/lua_scripts/worldmodel/task.lua

@@ -474,7 +474,7 @@ function ShootdotV2(p, error_, flag_,role)
 end
 
 
-function ShootdotDribbling(error_, flag_)
+function ShootdotDribbling(error_, flag_,power)
 	return function()
 		local irole = role or "Assister"
 		local p1
@@ -492,7 +492,7 @@ function ShootdotDribbling(error_, flag_)
 		local error__ = function()
 			return error_ * math.pi / 180.0
 		end
-		local iPower = param.isReality and kp.specified(110) or kp.specified(1300)
+		local iPower = param.isReality and kp.specified(power) or kp.specified(1300)
 		local mexe, mpos = GoCmuRush { pos = shootpos, dir = idir, acc = a, flag = flag.dribbling, rec = r, vel = v }
 		return { mexe, mpos, flag_, idir, error__,iPower , iPower, flag.dribbling }
 	end
@@ -1274,7 +1274,7 @@ function defender_marking(role,pos)
 		-- 初始化 获取需要盯防的对象 <= 2
 	-- if markingTableLen == 0 and ball.rawPos():x() > param.markingThreshold then 
 		for i=0,param.maxPlayer-1 do
-			if enemy.valid(i) and i ~= enemyDribblingNum and enemy.posX(i) < param.markingThreshold then
+			if enemy.valid(i) and i ~= enemyDribblingNum and enemy.posX(i) < param.markingThreshold  then
 				markingTable[markingTableLen] = i
 				markingTableLen = markingTableLen + 1
 				if markingTableLen > 1 then