oldchase.txt

FIRA 5V5比赛中一个机器人源代码 本科毕业设计做的

void CChaseAction::Go_Behind_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty)
{
	Vector3D offset;
	offset.x = env->currentBall.pos.x - distx;
	offset.y = env->currentBall.pos.y;
	if(offset.x < 0){offset.x = 0;}

	if(robot->pos.x >= (offset.x + 7) && robot->pos.x <= (offset.x - 7) && robot->pos.y >= (offset.y + 7) && robot->pos.y <= (offset.y - 7) )
	{
		robot->velocityLeft = 0;
		robot->velocityRight = 0;
	}
	else
	{
		Position_Myro(offset,WhichRobot);
	}
	return;
}

void CChaseAction::Go_Above_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty)
{
	Vector3D offset;
	offset.x = env->currentBall.pos.x;
	offset.y = env->currentBall.pos.y + disty;
	if(offset.x < 0){offset.x = 0;}
	
	if(robot->pos.x >= (offset.x + 7) && robot->pos.x <= (offset.x - 7) && robot->pos.y >= (offset.y + 7) && robot->pos.y <= (offset.y - 7) )
	{
		robot->velocityLeft = 0;
		robot->velocityRight = 0;	
	}
	else
	{
		Position_Myro(offset,WhichRobot);
	}
	return;
}

void CChaseAction::Go_Below_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty)
{
	Vector3D offset;
	offset.x = env->currentBall.pos.x;
	offset.y = env->currentBall.pos.y - disty;
	if(offset.x < 0){offset.x = 0;}

	if(robot->pos.x >= (offset.x + 7) && robot->pos.x <= (offset.x - 7) && robot->pos.y >= (offset.y + 7) && robot->pos.y <= (offset.y - 7) )
	{
		robot->velocityLeft = 0;
		robot->velocityRight = 0;	
	}
	else
	{
		Position_Myro(offset,WhichRobot);
	}
	return;
}

void CChaseAction::Go_Front_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty)
{
	Vector3D offset;
	offset.x = env->currentBall.pos.x + distx;
	offset.y = env->currentBall.pos.y;
	if(offset.x < 0){offset.x = 0;}
	
	if(robot->pos.x >= (offset.x + 7) && robot->pos.x <= (offset.x - 7) && robot->pos.y >= (offset.y + 7) && robot->pos.y <= (offset.y - 7) )
	{
		robot->velocityLeft = 0;
		robot->velocityRight = 0;	
	}
	else
	{
		Position_Myro(offset,WhichRobot);
	}
	return;
}

void CChaseAction::Go_AboveNBehind_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty)
{
	Vector3D offset;
	offset.x = env->currentBall.pos.x - distx;
	offset.y = env->currentBall.pos.y + disty;
	if(offset.x < 0){offset.x = 0;}
	
	if(robot->pos.x >= (offset.x + 7) && robot->pos.x <= (offset.x - 7) && robot->pos.y >= (offset.y + 7) && robot->pos.y <= (offset.y - 7) )
	{
		robot->velocityLeft = 0;
		robot->velocityRight = 0;	
	}
	else
	{
		Position_Myro(offset,WhichRobot);
	}
	return;
}

void CChaseAction::Go_BelowNBehind_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty)
{
	Vector3D offset;
	offset.x = env->currentBall.pos.x - distx;
	offset.y = env->currentBall.pos.y - disty;
	if(offset.x < 0){offset.x = 0;}
	
	if(robot->pos.x >= (offset.x + 7) && robot->pos.x <= (offset.x - 7) && robot->pos.y >= (offset.y + 7) && robot->pos.y <= (offset.y - 7) )
	{
		robot->velocityLeft = 0;
		robot->velocityRight = 0;	
	}
	else
	{
		Position_Myro(offset,WhichRobot);
	}
	return;
}

void CChaseAction::Go_AboveNFront_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty)
{
	Vector3D offset;
	offset.x = env->currentBall.pos.x + distx;
	offset.y = env->currentBall.pos.y + disty;
	if(offset.x < 0){offset.x = 0;}
	
	if(robot->pos.x >= (offset.x + 7) && robot->pos.x <= (offset.x - 7) && robot->pos.y >= (offset.y + 7) && robot->pos.y <= (offset.y - 7) )
	{
		robot->velocityLeft = 0;
		robot->velocityRight = 0;	
	}
	else
	{
		Position_Myro(offset,WhichRobot);
	}
	return;
}

void CChaseAction::Go_BelowNFront_Pos(Vector3D Destination,Robot *robot,int WhichRobot,int distx,int disty)
{
	Vector3D offset;
	offset.x = env->currentBall.pos.x + distx;
	offset.y = env->currentBall.pos.y - disty;
	if(offset.x < 0){offset.x = 0;}
	
	if(robot->pos.x >= (offset.x + 7) && robot->pos.x <= (offset.x - 7) && robot->pos.y >= (offset.y + 7) && robot->pos.y <= (offset.y - 7) )
	{
		robot->velocityLeft = 0;
		robot->velocityRight = 0;	
	}
	else
	{
		Position_Myro(offset,WhichRobot);
	}
	return;
}