oldherd.txt

FIRA 5V5比赛中一个机器人源代码 本科毕业设计做的

if(env->predictedBall.pos.x > 18)
	{
		if(robot->pos.x > (env->predictedBall.pos.x+ROBOTRADIUS/2)) //robot closer to opponent goal than ball
		{
			if(robot->pos.y > (env->predictedBall.pos.y+ROBOTRADIUS/2))//robot above ball
			{
				//Go_AboveNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS,ROBOTRADIUS);
				PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS,ABOVELEFT);
			}
			if(robot->pos.y <  (env->predictedBall.pos.y-ROBOTRADIUS/2))//robot below ball
			{
				//Go_BelowNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS,ROBOTRADIUS);
				PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS,BELOWLEFT);
			}
			if(robot->pos.y <= (env->predictedBall.pos.y+ROBOTRADIUS/2) && robot ->pos.y >= (env->predictedBall.pos.y-ROBOTRADIUS/2))//robot in front of  ball
			{
				if(env->predictedBall.pos.y <= 45)// if in lower half of field
				{
					//Go_Above_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS*2,ROBOTRADIUS*2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS*2,ABOVE);
				}
				else // if in higher half of field
				{
					//Go_Below_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS*2,ROBOTRADIUS*2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS*2,BELOW);
				}
			}
		}
		else // robot not closer to opponent goal than ball
		{
			if(robot->pos.y > (env->predictedBall.pos.y+ROBOTRADIUS/2))//robot above ball
			{
				//Go_Behind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS*2,ROBOTRADIUS*2);
				PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS*2,LEFT);
			}
			if(robot->pos.y <  (env->predictedBall.pos.y-ROBOTRADIUS/2))//robot below ball
			{
				//Go_Behind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS,ROBOTRADIUS);
				PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS,LEFT);
			}
			if(robot->pos.y <= (env->predictedBall.pos.y+ROBOTRADIUS) && robot ->pos.y >= (env->predictedBall.pos.y-ROBOTRADIUS))//robot behind ball
			{
				Position(env->predictedBall.pos,WhichRobot);
				//Rotate_To_Ball(env->predictedBall,env,WhichRobot);
			}
		}
	}
	
	else
	{
		if(env->predictedBall.pos.y <= 27)//ball below home goal area
		{
			if(robot->pos.x > (env->predictedBall.pos.x+ROBOTRADIUS/2)) //robot closer to opponent goal than ball
			{
				if(robot->pos.y > (env->predictedBall.pos.y+ROBOTRADIUS/4))//robot above ball
				{
					//Go_AboveNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ABOVELEFT);
				}
				if(robot->pos.y <  (env->predictedBall.pos.y-ROBOTRADIUS/4))//robot below ball
				{
					//Go_AboveNFront_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ABOVERIGHT);
				}
				if(robot->pos.y <= (env->predictedBall.pos.y+ROBOTRADIUS/4) && robot ->pos.y >= (env->predictedBall.pos.y-ROBOTRADIUS/4))//robot in front of ball
				{
					//Go_Above_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ABOVE);
				}
			}
			else // ball closer to opponent goal
			{
				if(robot->pos.y > (env->predictedBall.pos.y+ROBOTRADIUS/4))//robot above ball
				{
					//Go_AboveNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ABOVELEFT);
				}
				if(robot->pos.y <  (env->predictedBall.pos.y-ROBOTRADIUS/4))//robot below ball
				{
					//Go_AboveNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ABOVELEFT);
				}
				if(robot->pos.y <= (env->predictedBall.pos.y+ROBOTRADIUS/4) && robot ->pos.y >= (env->predictedBall.pos.y-ROBOTRADIUS/4))//robot behind ball
				{
					//Go_AboveNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/4,ROBOTRADIUS/4);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/4,ABOVELEFT);
				}
			}
		}
		if(env->predictedBall.pos.y >= 57)//ball above home goal area
		{
			if(robot->pos.x > (env->predictedBall.pos.x+ROBOTRADIUS/2)) //robot closer to opponent goal than ball
			{
				if(robot->pos.y > (env->predictedBall.pos.y+ROBOTRADIUS/4))//robot above ball
				{
					//Go_BelowNFront_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,BELOWRIGHT);
				}
				if(robot->pos.y <  (env->predictedBall.pos.y-ROBOTRADIUS/4))//robot below ball
				{
					//Go_BelowNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,BELOWRIGHT);
				}
				if(robot->pos.y <= (env->predictedBall.pos.y+ROBOTRADIUS/4) && robot ->pos.y >= (env->predictedBall.pos.y-ROBOTRADIUS/4))//robot in front of ball
				{
					//Go_Below_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,BELOW);
				}
			}
			else // ball closer to opponent goal
			{
				if(robot->pos.y > (env->predictedBall.pos.y+ROBOTRADIUS/4))//robot above ball
				{
					//Go_BelowNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,BELOWLEFT);
				}
				if(robot->pos.y <  (env->predictedBall.pos.y-ROBOTRADIUS/4))//robot below ball
				{
					//Go_BelowNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,ROBOTRADIUS/2);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/2,BELOWLEFT);
				}
				if(robot->pos.y <= (env->predictedBall.pos.y+ROBOTRADIUS/4) && robot ->pos.y >= (env->predictedBall.pos.y-ROBOTRADIUS/4))//robot behind ball
				{
					//Go_BelowNBehind_Pos(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/4,ROBOTRADIUS/4);
					PositionRobot(env->predictedBall.pos,robot,WhichRobot,ROBOTRADIUS/4,BELOWLEFT);
				}
				
			}
		}
		if(env->predictedBall.pos.y < 57 && env->predictedBall.pos.y > 27)
		{
			Brake(WhichRobot);
		}
	}