Merge pull request #23 from project-neon/feature/rogerioceni-vc-gerra…

…rd-2005

Feature/rogerioceni vc gerrard 2005

lib/DumbCoach.js

@@ -13,6 +13,8 @@ module.exports = class Coach {
 
       this.currentOrder = {}
 
+      this.goalKeeper = null
+
       this.init()
   }
 
@@ -39,6 +41,8 @@ module.exports = class Coach {
 
     this.goalKeeper = new GoalKeeper(this.match)
     this.attacker = new Attacker(this.match)
+
+    this.attacker2 = new Attacker(this.match)
   }
 
   async decide(data, robots) {
@@ -59,13 +63,12 @@ module.exports = class Coach {
 
     let it = 0
     _.values(robots).map(robot => {
-      if (robot.radioId == 2) {
+      if (robot.radioId == 1) {
         this.goalKeeper.decidePlay(robot, data)
-      } else if (robot.radioId == 1) {
+      } else if (robot.radioId == 2) {
         this.attacker.decidePlay(robot, data)
       } else {
-        robot.runningPlay = this.dumbRobots[it]
-        this.dumbRobots[it].setRobot(robot)
+        this.attacker2.decidePlay(robot, data)
       }
       it += 1
     })

lib/GameManager.js

@@ -84,7 +84,7 @@ module.exports = class GameManager {
     if (this.coaches.length > 1){
       await this.coaches[1].decide(data[sides[1]], rivalTeamRobots)
     }
-    
+
     let promises = _.values(this.robots).map(robot => {
       let teamId = robot.teamId
       let teamData = data[sides[teamId]]

lib/TensorMath.js

@@ -90,6 +90,16 @@ class TensorMath {
     this.operations.push(x => x < min ? 0 : (x > max ? 0 : x))
     return this
   }
+  // Rampa de aceleração para se aproximar da bola
+  sigmoid () {
+    this.operations.push(x => (1/(1 + Math.exp(-(10*x -6)))))
+    return this
+  }
+
+  sin () {
+    this.operations.push(x => Math.sin(x))
+    return this
+  }
 
   toFixed (n) {
     this.operations.push(x => x.toFixed(n))

players/experimental/AttackerMain.js

@@ -8,8 +8,6 @@ const RulePlays = require('./RulePlays')
 
 const BASE_SPEED = 50
 
-let robot_saw_the_ball_multiplier = 0.5
-
 module.exports = class AttackerMain extends RulePlays {
     setup(){
         super.setup()
@@ -54,7 +52,7 @@ module.exports = class AttackerMain extends RulePlays {
             clockwise: -1,
             radius: 75,
             decay: TensorMath.new.finish,
-            multiplier: BASE_SPEED
+            multiplier: BASE_SPEED * 0.7
         })
 
         this.addIntetion(this.orbitalRight)
@@ -64,7 +62,7 @@ module.exports = class AttackerMain extends RulePlays {
             clockwise: 1,
             radius: 75,
             decay: TensorMath.new.finish,
-            multiplier: BASE_SPEED
+            multiplier: BASE_SPEED * 0.7
         })
 
         this.addIntetion(this.orbitalLeft)
@@ -82,14 +80,21 @@ module.exports = class AttackerMain extends RulePlays {
             multiplier: BASE_SPEED
         }))
 
+        this.addIntetion(new PointIntention('KeepOnBall', {
+            target: ball,
+            radius: 500,
+            decay: TensorMath.new.sin().finish,
+            multiplier: BASE_SPEED * 0.7
+        }))
+
         this.avoidFieldWalls3 = new LineIntention('avoidFieldWalls3', {
           target: {x:-780, y: 0},
           theta: Vector.direction("up"),
           lineSize: 1700,
           lineDist: 100,
           lineDistMax: 100,
           decay: TensorMath.new.sum(1).mult(-1).finish,
-          multiplier: BASE_SPEED * 4
+          multiplier: BASE_SPEED
         })
         this.addIntetion(this.avoidFieldWalls3)
 

players/experimental/AttackerTriangle.js

@@ -8,7 +8,7 @@ const OrbitalIntention = require('../../Intention/OrbitalIntention')
 const Vector = require('../../lib/Vector')
 const RulePlays = require('./RulePlays')
 
-const BASE_SPEED = 75
+const BASE_SPEED = 70
 
 module.exports = class AttackerTriangle extends RulePlays {
   setup () {
@@ -47,7 +47,7 @@ this.addIntetion(new LineIntention('To the goal', {
   lineDist: 200,
   lineDistMax: 200,
   decay: TensorMath.new.finish,
-  multiplier: BASE_SPEED *1.1,
+  multiplier: BASE_SPEED,
   lineDistSingleSide: true
 }))
 
@@ -58,7 +58,7 @@ this.addIntetion(new LineIntention('Keep eye on goal', {
   lineDist: 200,
   lineDistMax: 200,
   decay: TensorMath.new.finish,
-  multiplier: BASE_SPEED
+  multiplier: BASE_SPEED * 1.2
 }))
 
   this.addIntetion(new PointIntention('goBall', {

players/experimental/GoalKeeperPush2.js

@@ -1,10 +1,11 @@
 const TensorMath = require('../../lib/TensorMath')
 const LineIntention = require('../../Intention/LineIntention')
 const PointIntention = require('../../Intention/PointIntention')
+const LookAtIntention = require('../../Intention/LookAtIntention')
 const RulePlays = require('./RulePlays')
 const Vector = require('../../lib/Vector')
 
-const BASE_SPEED = 40
+const BASE_SPEED = 60
 const GOAL_LINE = -670
 
 module.exports = class GoalkeeperPush2 extends RulePlays {
@@ -14,47 +15,37 @@ module.exports = class GoalkeeperPush2 extends RulePlays {
             let ball = {x: this.frame.cleanData.ball.x, y: this.frame.cleanData.ball.y}
             return ball
         }
-
         // Fixar goleiro na linha do gol
         this.addIntetion(new LineIntention('KeepGoalLine', {
-            target: {x: GOAL_LINE, y: 0},
-            theta: Vector.direction("up"),
-            lineSize: 1700,
-            lineDist: 260,
-            decay: TensorMath.new.finish,
-            multiplier: BASE_SPEED
-        }))
-
-        //Mantem o goleiro fixado na bola, seguindo eixo Y
-        this.addIntetion(new LineIntention('KeepOnBall', {
-            target: ball,
-            theta: Vector.direction("left"),
-            lineSize: 1700,
-            lineDist: 250,
-            decay: TensorMath.new.finish,
-            multiplier: BASE_SPEED * 1.2
-        }))
-
-        /*
-        Correção na função para o goleiro ter mais velocidade
-        em casos de bola muito proxima do eixo Y
-        */
-        this.addIntetion(new LineIntention('KeepOnBall', {
-            target: ball,
-            theta: Vector.direction("left"),
-            lineSize: 400,
-            lineDist: 150,
-            decay: TensorMath.new.finish,
-            multiplier: BASE_SPEED * 1.2
-        }))
-
-       this.addIntetion(new PointIntention('PushBall', {
-            target: ball,
-            radius: 50,
-            radiusMax: 50,
-            decay: TensorMath.new.finish,
-            multiplier: BASE_SPEED * 1.8
-        }))
+          target: {x: GOAL_LINE, y: 0},
+          theta: Vector.direction("up"),
+          lineSize: 1700,
+          lineDist: 260,
+          decay: TensorMath.new.finish,
+          multiplier: BASE_SPEED * 1.6
+      }))
+
+      //Mantem o goleiro fixado na bola, seguindo eixo Y
+      this.addIntetion(new LineIntention('KeepOnBall', {
+          target: ball,
+          theta: Vector.direction("left"),
+          lineSize: 1700,
+          lineDist: 250,
+          decay: TensorMath.new.finish,
+          multiplier: BASE_SPEED * 1.4
+      }))
+
+      /*
+      Correção na função para o goleiro ter mais velocidade
+      em casos de bola muito proxima do eixo Y
+      */
+      this.addIntetion(new PointIntention('KeepOnBall', {
+          target: ball,
+          radius: 100,
+          radiusMax: 100,
+          decay: TensorMath.new.finish,
+          multiplier: BASE_SPEED * 1.4
+      }))
     }
 
     loop(){

players/experimental/GoalkeeperMain2.js

@@ -4,17 +4,17 @@ const LookAtIntention = require('../../Intention/LookAtIntention')
 const Vector = require('../../lib/Vector')
 const RulePlays = require('./RulePlays')
 
-const BASE_SPEED = 40
+const BASE_SPEED = 50
 const MAX_SPEED = 80
 
-const GOAL_LINE = -670
+const GOAL_LINE = -650
 
 module.exports = class GoalkeeperMain2 extends RulePlays {
     setup(){
         super.setup()
         let ball = () => {
             let ball = {
-                x: this.frame.cleanData.ball.x, 
+                x: this.frame.cleanData.ball.x,
                 y: Math.max(Math.min(this.frame.cleanData.ball.y, 200), -200)
             }
             return ball
@@ -27,17 +27,17 @@ module.exports = class GoalkeeperMain2 extends RulePlays {
             lineSize: 1700,
             lineDist: 260,
             decay: TensorMath.new.finish,
-            multiplier: BASE_SPEED * 1.6
+            multiplier: BASE_SPEED * 1.4
         }))
 
         //Mantem o goleiro fixado na bola, seguindo eixo Y
         this.addIntetion(new LineIntention('KeepOnBall', {
             target: ball,
             theta: Vector.direction("left"),
             lineSize: 1700,
-            lineDist: 250,
-            decay: TensorMath.new.finish,
-            multiplier: BASE_SPEED * 1.4
+            lineDist: 80,
+            decay: TensorMath.new.pow(2).finish,
+            multiplier: BASE_SPEED
         }))
 
         /*
@@ -47,16 +47,17 @@ module.exports = class GoalkeeperMain2 extends RulePlays {
         this.addIntetion(new LineIntention('KeepOnBall', {
             target: ball,
             theta: Vector.direction("left"),
-            lineSize: 400,
-            lineDist: 150,
-            decay: TensorMath.new.finish,
+            lineSize: 600,
+            lineDist: 200,
+            lineDistMax: 200,
+            decay: TensorMath.new.pow(2).finish,
             multiplier: BASE_SPEED * 1.4
         }))
 
         this.addIntetion(new LookAtIntention('LookAtBall', {
             target: ball,
             decay: TensorMath.new.pow(1/2).finish,
-            multiplier: 680
+            multiplier: 320
         }))
       }
 

roles/AttackerRole.js

@@ -30,9 +30,9 @@ module.exports = class AttackerRole {
     buildTriangle (robot) {
       return {
         x1: GP.x,
-        y1: GP.y,
+        y1: GP.y - 100,
         x2: GP.x,
-        y2: -GP.y,
+        y2: -GP.y + 100,
 
         x3: robot.robots.self.position.x,
         y3: robot.robots.self.position.y
@@ -59,12 +59,13 @@ module.exports = class AttackerRole {
           robot.runningPlay = this.plays.triangle
           this.plays.triangle.setRobot(robot)
         } else if (this.insideFieldConstraint(SMALL_AREA, ball)) {
-            robot.runningPlay = this.plays.hold
-            this.plays.hold.setRobot(robot)
+          robot.runningPlay = this.plays.hold
+          this.plays.hold.setRobot(robot)
         } else {
-            robot.runningPlay = this.plays.main
-            this.plays.main.setRobot(robot)
+          robot.runningPlay = this.plays.main
+          this.plays.main.setRobot(robot)
         }
+
         console.log('|robot' + robot.radioId + '| decided play: ' + robot.runningPlay.constructor.name)
     }
 }

roles/GoalkeeperRole.js

@@ -28,24 +28,24 @@ module.exports = class GoalKeeperRole {
     }
 
     decidePlay(robot, data) {
-        
+
         const ball = data.cleanData.ball
         if(
-            this.insideFieldConstraint(FieldConstraints.GOAL_INNER_AREA, ball)
+            this.insideFieldConstraint(FieldConstraints.SMALL_AREA, ball)
             ){
-            robot.runningPlay = this.plays.main
-            this.plays.main.setRobot(robot)
+            robot.runningPlay = this.plays.push
+            this.plays.push.setRobot(robot)
         } else if (
-            this.insideFieldConstraint(FieldConstraints.LEFT, ball) 
+            this.insideFieldConstraint(FieldConstraints.LEFT, ball)
             || this.insideFieldConstraint(FieldConstraints.RIGHT, ball)
             ) {
             robot.runningPlay = this.plays.sides
             this.plays.sides.setRobot(robot)
-        }else{
+        } else{
             robot.runningPlay = this.plays.main
             this.plays.main.setRobot(robot)
         }
 
         console.log('|robot' + robot.radioId + '| decided play: ' + robot.runningPlay.constructor.name)
     }
-}
+}

server.js

@@ -38,7 +38,7 @@ async function startup(){
       visionImpl = 'simple-simulation-vision'
       driverImpl = 'simple-simulation-driver'
       break
-    case 3: 
+    case 3:
       visionImpl = 'vss-vision'
       driverImpl = 'vss-driver'
       break
@@ -57,16 +57,20 @@ async function startup(){
     // Driver: dados referentes ao output de dados de envio para os robos
     vision: {impl: visionImpl, params: config[visionImpl]},
     driver: {impl: driverImpl, params: config[driverImpl]},
-    coaches: [CoachClass],
+    coaches: [CoachClass, CoachClass],
     matchParams: {
       'startSide': config.startSide,
       'startColor': config.startColor
     },
     robotsProperties:[
       {
         // TEAM 1
-        robot_0: {vision_id: 1, radio_id: 2},
+        robot_2: {vision_id: 1, radio_id: 3},
+        robot_3: {vision_id: 9, radio_id: 2},
         robot_1: {vision_id: 3, radio_id: 1}
+      },
+      {
+
       }
     ]
   })