Goto_friendly_goal fix, tweaked onside and FormularBot now recognises non-stand kickoff positions.

Previouisly FormularBot would drive towards goal if abs(agent.me.location.y) < 5000. This was supposed to stop FormularBot moving when it reached its goal, however it also stopped FormularBot moving if it was in enemy goal.

Now I have a separate check for blue team and orange team. The blue team one is if agent.me.location.y > -5000:

Changed onside from me_onside = my_distance + 80 < my_ball_distance to 70 to hopefully stop FormularBot cancelling shots so much.

elif x_position == 0:
   kickoff_position = 'back_centre'
else:
   kickoff_position = 'unknown'
^ Next update FormularBot will have a fast back_centre kickoff which will be different from kickoffs for other gamemodes.

FormularBot drifts if abs(angles[1]) > 1:  while going centre.

Author: bigbandalcala

DemoBot.py

@@ -15,8 +15,10 @@ def run(agent):
             kickoff_position = 'back_left'
         elif x_position == 255 or x_position == 256:
             kickoff_position = 'back_right'
-        else:
+        elif x_position == 0:
             kickoff_position = 'back_centre'
+        else:
+            kickoff_position = 'unknown'
 
         if agent.index == 0:
             agent.debug_stack()

FormularBot.py

@@ -20,7 +20,7 @@ def run(agent):
         my_goal_to_ball,my_ball_distance = (agent.ball.location - agent.friend_goal.location).normalize(True)
         goal_to_me = agent.me.location - agent.friend_goal.location
         my_distance = my_goal_to_ball.dot(goal_to_me)
-        me_onside = my_distance + 80 < my_ball_distance
+        me_onside = my_distance + 70 < my_ball_distance
 
         close = (agent.me.location - agent.ball.location).magnitude() < 1500
         very_close = (agent.me.location - agent.ball.location).magnitude() < 500
@@ -69,8 +69,10 @@ def run(agent):
             kickoff_position = 'back_left'
         elif x_position == 255 or x_position == 256:
             kickoff_position = 'back_right'
-        else:
+        elif x_position == 0:
             kickoff_position = 'back_centre'
+        else:
+            kickoff_position = 'unknown'
 
         #Shoots if onside and (closest to ball or ball within 4000 of foe goal and between -1250 and 1250 x or ball is within 3000 of own goal)
         if me_onside and (closest_to_ball or (distance_ball_foe_goal < 4000 and -1250 < agent.ball.location.x < 1250) or distance_ball_friendly_goal < 3000):

routines.py

@@ -36,17 +36,29 @@ def run(agent):
 class goto_friendly_goal():
     #Drives towards friendly goal. If touching or over goal line stops moving and faces enemy goal
     def run(agent):
-        if abs(agent.me.location.y) < 5000:
-            relative = Vector3(0,5120*side(agent.team),0) - agent.me.location
-            defaultPD(agent,agent.me.local(relative))
-            angles = defaultPD(agent, agent.me.local(relative))
-            if abs(agent.me.location.y) < 4900:
-                defaultThrottle(agent,2300)
+        if side(agent.team) == -1:
+            if agent.me.location.y > -5000:
+                relative = Vector3(0,5120*side(agent.team),0) - agent.me.location
+                defaultPD(agent,agent.me.local(relative))
+                angles = defaultPD(agent, agent.me.local(relative))
+                if agent.me.location.y > -4900:
+                    defaultThrottle(agent,2300)
+            else:
+                relative = agent.foe_goal.location - agent.me.location
+                defaultPD(agent,agent.me.local(relative))
+                angles = defaultPD(agent, agent.me.local(relative))
         else:
-            relative = agent.foe_goal.location - agent.me.location
-            defaultPD(agent,agent.me.local(relative))
-            angles = defaultPD(agent, agent.me.local(relative))
-        
+            if agent.me.location.y < 5000:
+                relative = Vector3(0,5120*side(agent.team),0) - agent.me.location
+                defaultPD(agent,agent.me.local(relative))
+                angles = defaultPD(agent, agent.me.local(relative))
+                if agent.me.location.y < 4900:
+                    defaultThrottle(agent,2300)
+            else:
+                relative = agent.foe_goal.location - agent.me.location
+                defaultPD(agent,agent.me.local(relative))
+                angles = defaultPD(agent, agent.me.local(relative))
+            
         if abs(angles[1]) > 2.88 and abs(angles[1]) < 3.4:
             agent.push(half_flip())
 
@@ -175,6 +187,9 @@ def run(agent):
         if relative_target.magnitude() > 350:
             defaultPD(agent, local_target)
             defaultThrottle(agent, 2300)
+            if abs(angles[1]) > 1:
+                agent.controller.handbrake = True
+                agent.controller.boost = False
         else:
         #If close to target, stop moving and face towards ball
             defaultThrottle(agent, 0)
@@ -694,9 +709,42 @@ def run(self,agent):
                             agent.controller.yaw = 0.85
                         else:
                             agent.controller.yaw = -0.85
-
+            
+            # elif self.kickoff == 'back_centre':
+            #     #Fast back_centre kickoff
+            #     defaultThrottle(agent,2300)
+            #     agent.controller.boost = True
+            #     if elapsed < 0.4:
+            #         relative_target = agent.ball.location - agent.me.location
+            #         local_target = agent.me.local(relative_target)
+            #         defaultPD(agent,local_target)
+            #     if elapsed < 0.65:
+            #         relative_target = agent.boosts[31 if side(agent.team) == -1 else 2].location - agent.me.location
+            #         local_target = agent.me.local(relative_target)
+            #         defaultPD(agent,local_target)
+            #     if elapsed > 0.65 and elapsed < 0.7:
+            #         agent.controller.jump = True
+            #     elif elapsed > 0.65 and self.counter < 3:
+            #         agent.controller.jump = False
+            #         self.counter += 1
+            #     elif elapsed > 0.65 and self.counter < 4:
+            #         agent.controller.jump = True
+            #         agent.controller.pitch = -1
+            #         #Faces central 
+            #         agent.controller.yaw = -1            
+            #         self.counter += 1
+            #     elif self.counter == 4:
+            #         agent.controller.jump = False
+            #         self.counter += 1
+            #     elif self.counter > 4:
+            #         #Once landed flips into the ball
+            #         if not agent.me.airborne:
+            #             agent.push(flip(agent.me.local(agent.ball.location - agent.me.location)))
+            #         else:
+            #             agent.controller.yaw = -0.5
 
             else:
+                #kickoff for non-football gamemodes (heatseaker, dropshot etc) - just drives towards ball and flips
                 target = agent.ball.location + Vector3(0,200*side(agent.team),0)
                 local_target = agent.me.local(target - agent.me.location)
                 defaultPD(agent, local_target)