3rd place. Fuck YEAHHH! BYE

vikev · Apr 4, 2014 · d82a2c6 · d82a2c6
1 parent 1faa02c
commit d82a2c6
Show file tree

Hide file tree

Showing 5 changed files with 18 additions and 10 deletions.
diff --git a/trunk/PC/PCControl/settings b/trunk/PC/PCControl/settings
diff --git a/trunk/PC/PCControl/src/sdp/pc/robot/pilot/Robot.java b/trunk/PC/PCControl/src/sdp/pc/robot/pilot/Robot.java
@@ -251,7 +251,7 @@ public void closeConnection() {
 	 * coordinate by going forwards or backwards.
 	 */
 	public void defendBall() throws Exception {
-		if (assertPerpendicular(3 * SAFE_ANGLE_EPSILON)) {
+		if (assertPerpendicular(2 * SAFE_ANGLE_EPSILON)) {
 
 			// Get predicted ball stop point
 			// TODO: Needs test
@@ -320,7 +320,7 @@ public void defendWeightedGoalLine(double weight) throws Exception {
 	 */
 	public void defendRobot(int team, int robot) throws Exception {
 
-		if (assertPerpendicular(3 * SAFE_ANGLE_EPSILON)) {
+		if (assertPerpendicular(2 * SAFE_ANGLE_EPSILON)) {
 			// Get my location
 			Point2 robotPos = state.getRobotPosition(myTeam, myIdentifier);
 
@@ -336,7 +336,7 @@ public void defendRobot(int team, int robot) throws Exception {
 
 			// If that position exists, defend it, otherwise just defend the
 			// ball
-			if (!predictedBallPos.equals(Point2.EMPTY)) {
+			if (!predictedBallPos.equals(Point2.EMPTY) && FutureBall.pitchContains(predictedBallPos)) {
 					if (defendToY(predictedBallPos.getY(), DEFEND_EPSILON_DISTANCE)) {
 						driver.stop();
 					}
@@ -618,7 +618,7 @@ public void kickBallToPoint(Point2 where, boolean justGrab)
 					// If close to ball, grab
 					if (goTo(
 					// Main pitch - 20.0; Side pitch - 18.0
-							ball.offset(18.0, ball.angleTo(pos)), 10.0)) {
+							ball.offset(20.0, ball.angleTo(pos)), 10.0)) {
 
 						driver.stop();
 						driver.grab();
@@ -632,7 +632,7 @@ public void kickBallToPoint(Point2 where, boolean justGrab)
 				if (kickSubState < 0)
 					kickSubState = 0;
 				// Main pitch - 22.0; Side pitch - 20.0
-				if (goTo(ball.offset(20.0, ball.angleTo(pos)), 10.0)) {
+				if (goTo(ball.offset(22.0, ball.angleTo(pos)), 10.0)) {
 					driver.stop();
 					driver.grab();
 					kickSubState = 1;
@@ -1230,6 +1230,7 @@ private boolean defendToY(int y, double eps) throws Exception {
 			}
 		}
 
+
 		Point2 botPosition = state.getRobotPosition(myTeam, myIdentifier);
 		double botFacing = state.getRobotFacing(myTeam, myIdentifier);
 		if (botPosition.y - y > DEFEND_EPSILON_DISTANCE) {

diff --git a/trunk/PC/PCControl/src/sdp/pc/robot/pilot/StrategyThread.java b/trunk/PC/PCControl/src/sdp/pc/robot/pilot/StrategyThread.java
@@ -93,8 +93,8 @@ private void updateStates() throws Exception {
 		int quad = state.getBallQuadrant();
 		boolean aQ, dQ = false;
 		if (attacker.getState() == Robot.State.RESET) {
-			aQ = attacker.nearBoundary(HULL_OFFSET+10);
-			dQ = defender.nearBoundary(HULL_OFFSET+10);
+			aQ = attacker.nearBoundary(HULL_OFFSET+15);
+			dQ = defender.nearBoundary(HULL_OFFSET+15);
 		} else {
 			aQ = attacker.nearBoundary(HULL_OFFSET);
 			dQ = defender.nearBoundary(HULL_OFFSET);

diff --git a/trunk/PC/PCControl/src/sdp/pc/vision/WorldStateUpdater.java b/trunk/PC/PCControl/src/sdp/pc/vision/WorldStateUpdater.java
@@ -427,7 +427,7 @@ private void processPixel(Point2 p, BufferedImage img, Color[][] cRgbs,
 		cHsb = cHsbs[p.x][p.y];
 
 		Color.RGBtoHSB(cRgb.getRed(), cRgb.getGreen(), cRgb.getBlue(), cHsb);
-		/*
+
 
 		// scale HSB
 		float br = cHsb[2];
@@ -442,7 +442,7 @@ private void processPixel(Point2 p, BufferedImage img, Color[][] cRgbs,
 		// save RGB
 		cRgb = new Color(Color.HSBtoRGB(cHsb[0], cHsb[1],
 				cHsb[2]));
-		*/
+
 		cRgbs[p.x][p.y] = cRgb;
 
 

diff --git a/trunk/PC/PCControl/src/sdp/pc/vision/settings/VisionMouseAdapter.java b/trunk/PC/PCControl/src/sdp/pc/vision/settings/VisionMouseAdapter.java
@@ -45,6 +45,13 @@ public void mouseWheelMoved(MouseWheelEvent e) {
 	public void mousePressed(MouseEvent e) {
 		Point2 p = getMousePosition();
 
+
+		if(e.getButton() == 2) {
+			System.out.printf("rightclick\n");
+			SettingsManager.defaultSettings.setFisheyeCenter(p);
+			return;
+		}
+
 		// If the system is waiting for a boundary set it
 		if (!SettingsManager.defaultSettings.hasBoundary()) {
 			SettingsManager.defaultSettings.addBoundary(p);
@@ -71,7 +78,7 @@ public void mousePressed(MouseEvent e) {
 				min[1] = cRgb.getGreen();
 				min[2] = cRgb.getBlue();
 			}
-			else {
+			else if (cRgb != null) {
 				min[0] = Math.max(0, cRgb.getRed()	 	- 10);
 				min[1] = Math.max(0, cRgb.getGreen() 	- 10);
 				min[2] = Math.max(0, cRgb.getBlue()	 	- 10);