Vec2 GoalieMode() {
abstract_robot.setDisplayString("Goalie");
Vec2 ReturnCmd = new Vec2(CurOurGoal.x, CurOurGoal.y);
// If we're too far out of goal in x dir, get back in!
Vec2 OurGoalAbs = new Vec2(CurOurGoal.x, CurOurGoal.y);
OurGoalAbs.add(CurMyPos);
if (Math.abs(CurMyPos.x) < Math.abs(OurGoalAbs.x * 0.9)) {
return (CurOurGoal);
}
// Otherwise, calculate projected ball trajectory
Vec2 BallDir = new Vec2(CurBallPos.x, CurBallPos.y);
BallDir.sub(PrevBallPos);
// If ball is headed into goal, block it!
ReturnCmd.setx(0);
boolean MoveUp = false;
boolean MoveDown = false;
if (CurMyPos.y < CurBallPos.y) MoveUp = true;
if (CurMyPos.y > CurBallPos.y) MoveDown = true;
if (CurMyPos.y > GOAL_WIDTH / 2.0) MoveUp = false;
if (CurMyPos.y < -GOAL_WIDTH / 2.0) MoveDown = false;
if (MoveDown && MoveUp) {
ReturnCmd.sety(0);
// System.out.println("Both " + CurMyPos.y + " " + CurBallPos.y);
} else if (MoveDown) {
ReturnCmd.sety(-1);
// System.out.println("Down");
} else if (MoveUp) {
ReturnCmd.sety(1);
// System.out.println("Up");
} else {
ReturnCmd.sety(0);
}
return (ReturnCmd);
}
Vec2 TocchetMode() {
abstract_robot.setDisplayString("Tocchet");
Vec2 Goalie = new Vec2(99999, 0);
Vec2 GoalDistance = new Vec2(99999, 0);
Vec2 CmdReturn;
for (int i = 0; i < CurOpponents.length; i++) {
if (ClosestTo(CurOpponents[i], EgoToAbs(CurOpponentsGoal))) {
Goalie.setx(CurOpponents[i].x);
Goalie.sety(CurOpponents[i].y);
}
}
return (Goalie);
}