Changed some decision making, DemoBot bug fix, added distance_ball_foe_goal variable, bug fix go_to_friendly_goal and description change

Replaced uses of if agent.ball.location.y * side(agent.team) * -1 > x * side(agent.team) * -1 or similar, which only worked for blue team, with if distance_ball_foe/friendly_goal.

Changed shooting range to 4000 and x to 1250. Changed clearing range to 3000. Changed closet o 1500

Added stack == 'getting boost' and agent.me.boost < 20 as a condition to not clear stack because often bot would not have any boost because it kept clearing stack everytime it tried to get some. Now it doesn't clear stack unless low on boost.

Since I removed all stack clearing code from routines.py I forgot to update DemoBot to not send True as a variable when pushing demo_nearest_enemy to stack. Also added a try, except, which says no enemies to Demo :(

Removed defaultThrottle(agent.0) from goto_friendly_goal as something to do when reaching it as that's not needed and probably stops car from turning around from momentum.

Added 'Plays best in 3s.' to description as mode of FormularBots team code is written for 3s for when it played in Ultimate Battle League.

Author: bigbandalcala

DemoBot.py

@@ -11,4 +11,4 @@ def run(agent):
             if agent.kickoff_flag:
                 agent.push(kickoff(int(agent.me.location.x * side(agent.team))))
             else:
-                agent.push(demo_enemy_closest_ball(True))
+                agent.push(demo_enemy_closest_ball)

FormularBot.cfg

@@ -16,7 +16,7 @@ maximum_tick_rate_preference = 120
 # These values are optional but useful metadata for helper programs
 developer = FormularSumo
 
-description = A bot named after me, based on GoslingUtils. Started 1 April.
+description = A bot named after me, based on GoslingUtils. Plays best in 3s. Started 1 April.
 
 fun_fact = It was originally created in Scratch then ported to Python (1 day in)
 

FormularBot.py

@@ -14,8 +14,8 @@
 class FormularBot(GoslingAgent):
     def run(agent):
         global stack
-        relative_target = agent.ball.location - agent.friend_goal.location
-        distance_ball_friendly_goal = relative_target.magnitude()
+        distance_ball_friendly_goal = (agent.ball.location - agent.friend_goal.location).magnitude()
+        distance_ball_foe_goal = (agent.ball.location - agent.foe_goal.location).magnitude()
 
         if len(agent.foes) > 0:
             enemies = agent.foes
@@ -36,7 +36,7 @@ def run(agent):
         my_distance = my_goal_to_ball.dot(goal_to_me)
         me_onside = my_distance + 80 < my_ball_distance
 
-        close = (agent.me.location - agent.ball.location).magnitude() < 1000
+        close = (agent.me.location - agent.ball.location).magnitude() < 1500
         very_close = (agent.me.location - agent.ball.location).magnitude() < 500
         distance_to_ball = (agent.me.location - agent.ball.location).flatten().magnitude()
         distance_to_friendly_goal = (agent.me.location - agent.friend_goal.location).flatten().magnitude()
@@ -74,7 +74,7 @@ def run(agent):
 
 
 
-        if me_onside and (closest_to_ball or (agent.ball.location.y * side(agent.team) * -1 > 2500 * side(agent.team) * -1 and agent.ball.location.x < 1500 and agent.ball.location.x > -1500)):
+        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):
             shooting = True
         else:
             shooting = False    
@@ -85,20 +85,18 @@ def run(agent):
             goalie = False
 
         # if agent.index == 0:
-            # agent.debug_stack()
-            # print(shooting,goalie)
-            # agent.line(Vector3(1500,3000,50),Vector3(-1500,3000,50),[0,255,255])
-            # print(closest_to_ball)
-            # print(distance_to_ball,closest_ally_to_ball_distance)
-            # print(close)
-            # print(me_onside)
-            # print(distance_ball_friendly_goal)
-            # agent.line(agent.foe_goal.left_post,agent.foe_goal.right_post)
-            # print(Vector3(agent.ball.location))
-            # print(closest_ally_friendly_goal_distance,distance_to_friendly_goal)
-            # agent.line(agent.friend_goal.location, agent.ball.location, [255,255,255])
-            # my_point = agent.friend_goal.location + (my_goal_to_ball * my_distance)
-            # agent.line(my_point - Vector3(0,0,100), my_point + Vector3(0,0,500), [0,255,0])
+        #     agent.debug_stack()
+        #     print(shooting,goalie)
+        #     print(closest_to_ball)
+        #     print(distance_to_ball,closest_ally_to_ball_distance)
+        #     print(close)
+        #     print(me_onside)
+        #     agent.line(agent.foe_goal.left_post,agent.foe_goal.right_post)
+        #     print(Vector3(agent.ball.location))
+        #     print(closest_ally_friendly_goal_distance,distance_to_friendly_goal)
+        #     agent.line(agent.friend_goal.location, agent.ball.location, [255,255,255])
+        #     my_point = agent.friend_goal.location + (my_goal_to_ball * my_distance)
+        #     agent.line(my_point - Vector3(0,0,100), my_point + Vector3(0,0,500), [0,255,0])
 
         if len(agent.stack) < 1:
             if agent.kickoff_flag and closest_to_ball:
@@ -135,7 +133,7 @@ def run(agent):
                     stack = 'getting boost'
                     agent.push(get_nearest_big_boost)
 
-        if not stack == kickoff and not(stack == 'shooting' and (close and (agent.me.airborne or me_onside or agent.me.location.y * side(agent.team > 2500 * -side(agent.team))))):
+        if not stack == kickoff and not(stack == 'shooting' and (close and (agent.me.airborne or me_onside or distance_ball_foe_goal < 3500))) and not(stack == 'getting boost' and agent.me.boost < 20):
 
             if agent.kickoff_flag and closest_to_ball:
                 if stack != 'kickoff':

routines.py

@@ -45,7 +45,6 @@ def run(agent):
             relative = agent.foe_goal.location - agent.me.location
             defaultPD(agent,agent.me.local(relative))
             angles = defaultPD(agent, agent.me.local(relative))
-            defaultThrottle(agent,0)
 
         if abs(angles[1]) > 2.88 and abs(angles[1]) < 3.4:
             agent.push(half_flip())
@@ -109,16 +108,20 @@ def run(agent):
         if agent.me.boost < 10:
             agent.push(get_nearest_big_boost)
         else:  
-            relative_target = agent.foes[y].location - agent.me.location
-            local_target = agent.me.local(relative_target)
-            defaultPD(agent, local_target)
-            defaultThrottle(agent, 2300)
-            distance_remaining = local_target.flatten().magnitude()
+            try:
+                relative_target = agent.foes[y].location - agent.me.location
+                local_target = agent.me.local(relative_target)
+                defaultPD(agent, local_target)
+                defaultThrottle(agent, 2300)
+                distance_remaining = local_target.flatten().magnitude()
+                
+                if distance_remaining < 2000 or agent.me.boost > 50 and distance_remaining < 5000:
+                    agent.controller.boost = True
+                else:
+                    agent.controller.boost = False
+            except:
+                print('There are no enemies to demo :(')
 
-            if distance_remaining < 2000 or agent.me.boost > 50 and distance_remaining < 5000:
-                agent.controller.boost = True
-            else:
-                agent.controller.boost = False
 
 class half_flip():
     def __init__(self):