SoccerTeam, Stuff from Magdeburg

11 files changed, 511 insertions, 39 deletions

diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c
index 7c4618a..8320eca 100755
--- a/source/Concept/Framework/modules/executor/navigator.c
+++ b/source/Concept/Framework/modules/executor/navigator.c
@@ -59,7 +59,7 @@ void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float
 //-----------------------------------------------------------------------------

 void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed)

 {

-	if(newX < 0 || newY < 0) return;

+	if(newX == EMPTY_FLOAT || newY == EMPTY_FLOAT) return;

 

 	Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);

 

@@ -125,7 +125,7 @@ bool Navigator::TargetReached()
 

 	bool targetReached = false;

 

-	if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f))

+	if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < DISTANCE_TOLERANCE))

 	{

 		targetReached = true;

 	}

@@ -230,7 +230,7 @@ void Navigator::CalculateEngines()
 	vBack = ((float)vBack * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;

 	vRight = ((float)vRight * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;

 

-	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vLeft,10,2);

+	(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,2);

 	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,3);

 	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vRight,10,4);

 

diff --git a/source/Concept/Framework/modules/executor/navigator.h b/source/Concept/Framework/modules/executor/navigator.h
index 53fa74b..989bc04 100755
--- a/source/Concept/Framework/modules/executor/navigator.h
+++ b/source/Concept/Framework/modules/executor/navigator.h
@@ -67,6 +67,21 @@ public:
 		return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);

 	}

 

+	float GetTargetX()

+	{

+		return targetX;

+	}

+

+	float GetTargetY()

+	{

+		return targetY;

+	}

+

+	float GetDirection()

+	{

+		return direction;

+	}

+

 	bool HasTargetAngle()

 	{

 		return (targetAngle != EMPTY_FLOAT);

diff --git a/source/Concept/Framework/modules/input/mouse_sensor.h b/source/Concept/Framework/modules/input/mouse_sensor.h
index b3d1b1a..1f2922a 100755
--- a/source/Concept/Framework/modules/input/mouse_sensor.h
+++ b/source/Concept/Framework/modules/input/mouse_sensor.h
@@ -214,6 +214,16 @@ public:
 	{

 		return positionY;

 	}

+

+	void AdjustPositionX(float newPosX)

+	{

+		this->positionX = newPosX;

+	}

+

+	void AdjustPositionY(float newPosY)

+	{

+		this->positionY = newPosY;

+	}

 };

 

 #endif
diff --git a/source/Concept/Framework/modules/interpreter/ball_tracker.c b/source/Concept/Framework/modules/interpreter/ball_tracker.c
index 16fdfb4..a882abb 100755
--- a/source/Concept/Framework/modules/interpreter/ball_tracker.c
+++ b/source/Concept/Framework/modules/interpreter/ball_tracker.c
@@ -3,6 +3,8 @@
 //-----------------------------------------------------------------------------

 void Ball_Tracker::Update()

 {

+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);

+

 	uint8 sensorCount = (IO_SENSOR_IR_330_DEG - IO_SENSOR_IR_0_DEG) + 1;

 	uint16 intensity[sensorCount];

 	uint8 greatestIntensity = 0;

@@ -26,15 +28,12 @@ void Ball_Tracker::Update()
 		{

 			if(intensity[i] > BALL_HELD_INTENSITY) // Ball derzeit sehr nah dran

 			{

-				ballHeld = true;

-				ballHeldCounter = 100;

+				if(ballHeldCounter < 10) ballHeldCounter++;

 			}

-			else if(ballHeldCounter > 0) // Oder vor kurzem erst sehr nah dran

+			else if(ballHeldCounter > 0)
 			{

-				ballHeld = true;

 				ballHeldCounter--;		

 			}

-			else ballHeld = false; // ansonsten hat er den Ball nicht

 		}

 	}

 

@@ -132,13 +131,15 @@ void Ball_Tracker::Update()
 			direction = (intensity[greatestIntensity] * mainDirection + 

 									intensity[secondIntensity] * secondDirection) / 

 									(intensity[greatestIntensity] + intensity[secondIntensity]);

-

-			direction = easyAngle(direction);

 		}

 		else

 		{

 			direction = mainDirection;

 		}

+

+		direction += ourPositionTracker->GetOrientation();

+

+		direction = easyAngle(direction);

 	}

 	else

 	{

diff --git a/source/Concept/Framework/modules/interpreter/ball_tracker.h b/source/Concept/Framework/modules/interpreter/ball_tracker.h
index cb90ff2..756a09f 100755
--- a/source/Concept/Framework/modules/interpreter/ball_tracker.h
+++ b/source/Concept/Framework/modules/interpreter/ball_tracker.h
@@ -12,7 +12,6 @@ public:
 		this->moduleId = 0;

 		this->direction = EMPTY_FLOAT;

 		this->ballHeldCounter = 0;

-		this->ballHeld = false;

 	}

 

 	Ball_Tracker(uint32 trackerId)

@@ -21,13 +20,11 @@ public:
 		this->moduleId = trackerId;

 		this->direction = EMPTY_FLOAT;

 		this->ballHeldCounter = 0;

-		this->ballHeld = false;

 	}

 

 protected:

 	float direction;

 	uint8 ballHeldCounter;

-	bool ballHeld;

 

 public:

 	void Update();

@@ -42,9 +39,9 @@ public:
 		return (direction != EMPTY_FLOAT);

 	}

 

-	bool RobotHasBall()

+	bool HasBall()

 	{

-		return ballHeld;

+		return (ballHeldCounter >= 3);

 	}

 };

 

diff --git a/source/Concept/Framework/modules/interpreter/command_handler.c b/source/Concept/Framework/modules/interpreter/command_handler.c
index 7d8937b..e2a9ba2 100644
--- a/source/Concept/Framework/modules/interpreter/command_handler.c
+++ b/source/Concept/Framework/modules/interpreter/command_handler.c
@@ -3,6 +3,7 @@
 //-----------------------------------------------------------------------------

 void Command_Handler::Update()

 {

+	Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);

 	Keyboard* ourKeyboard = parent->GetModule<Keyboard>(IO_KEYBOARD_MAIN);

 

 	uint8 curInput = ourKeyboard->GetInput();

@@ -13,11 +14,20 @@ void Command_Handler::Update()
 		if(curInput == 10)

 		{

 			ExecuteCommand();

+

+			for(uint8 i = 0; i < this->currentCommandLength; i++)

+			{

+				this->buffer[i] = NULL;

+				ourDisplay->Print(" ", i + 1, 1);

+			}

+

+			this->currentCommandLength = 0;

 		}

 		else if(curInput == 11)

 		{

 			if(this->currentCommandLength > 0)

 			{

+				ourDisplay->Print(" ", this->currentCommandLength, 1);

 				this->currentCommandLength--;

 				this->buffer[currentCommandLength] = NULL;

 			}

@@ -28,6 +38,7 @@ void Command_Handler::Update()
 			{

 				this->buffer[this->currentCommandLength] = curInput;

 				this->currentCommandLength++;

+				ourDisplay->Print(curInput, this->currentCommandLength, 1);

 			}

 		}

 

@@ -38,8 +49,163 @@ void Command_Handler::Update()
 //-----------------------------------------------------------------------------

 void Command_Handler::ExecuteCommand()

 {

-	if(this->buffer[0] == 5)

+	if(this->buffer[0] == 1)

+	{

+		if(this->buffer[1] == 1)

+		{

+			this->displayDistanceSensors = true;

+			this->displayPositionTracker = false;

+			this->displayBallTracker = false;

+			this->displayMouseSensors = false;

+		}

+		else if(this->buffer[1] == 2)

+		{

+			this->displayDistanceSensors = false;

+			this->displayPositionTracker = true;

+			this->displayBallTracker = false;

+			this->displayMouseSensors = false;

+		}

+		else if(this->buffer[1] == 3)

+		{

+			this->displayDistanceSensors = false;

+			this->displayPositionTracker = false;

+			this->displayBallTracker = true;

+			this->displayMouseSensors = false;

+		}

+		else if(this->buffer[1] == 4)

+		{

+			this->displayDistanceSensors = false;

+			this->displayPositionTracker = false;

+			this->displayBallTracker = false;

+			this->displayMouseSensors = true;

+		}

+		else if(this->buffer[1] == 0)

+		{

+			this->displayDistanceSensors = false;

+			this->displayPositionTracker = false;

+			this->displayBallTracker = false;

+			this->displayMouseSensors = false;

+		}

+	}

+	else if(this->buffer[0] == 2)

+	{

+		Logic* ourLogic = parent->GetModule<Logic>(IO_LOGIC_MAIN);	

+		if(this->buffer[1] == 1)

+		{

+			ourLogic->SetKeeper(true);

+		}

+		else if(this->buffer[1] == 2)

+		{

+			ourLogic->SetKeeper(false);

+		}

+	}

+	else if(this->buffer[0] == 3)

+	{

+		if(this->buffer[1] == 1)

+		{

+			Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);

+			ourNavigator->RotateTo(180, 200);

+		}

+		else if(this->buffer[1] == 2)

+		{

+			Aktuator* ourAktuator = parent->GetModule<Aktuator>(IO_AKTUATOR_MAIN);

+			ourAktuator->Kick();

+		}

+		else if(this->buffer[1] == 3)

+		{

+			Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);

+			ourNavigator->RotateTo(float(buffer[2]) * 100.0f + float(buffer[3]) * 10.0f + float(buffer[4]), 200);

+		}

+		else if(this->buffer[1] == 4)

+		{

+			Mouse_Sensor* ourLeftMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);

+			Mouse_Sensor* ourRightMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);

+

+			this->ticksPerCmOffset += 2.5f;

+			ourLeftMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));

+			ourLeftMouse->AdjustPositionY(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));

+			ourRightMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));

+			ourRightMouse->AdjustPositionY(3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));

+		}

+		else if(this->buffer[1] == 5)

+		{

+			Mouse_Sensor* ourLeftMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);

+			Mouse_Sensor* ourRightMouse = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);

+

+			this->ticksPerCmOffset -= 2.5f;

+			ourLeftMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));

+			ourLeftMouse->AdjustPositionY(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));

+			ourRightMouse->AdjustPositionX(-3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));

+			ourRightMouse->AdjustPositionY(3.88f * (TICKS_PER_CM + this->ticksPerCmOffset));

+		}

+	}

+	else if(this->buffer[0] == 4)

+	{

+		Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);

+		int16 speed = 200;

+		switch(this->buffer[1])

+		{

+			case 1:

+				ourNavigator->Drive(225, 0, speed, 0);

+				break;

+			case 2:

+				ourNavigator->Drive(180, 0, speed, 0);

+				break;

+			case 3:

+				ourNavigator->Drive(135, 0, speed, 0);

+				break;

+			case 4:

+				ourNavigator->Drive(270, 0, speed, 0);

+				break;

+			case 5:

+				ourNavigator->Rotate(DEFAULT_ROTATION_SPEED);

+				break;

+			case 6:

+				ourNavigator->Drive(90, 0, speed, 0);

+				break;

+			case 7:

+				ourNavigator->Drive(315, 0, speed, 0);

+				break;

+			case 8:

+				ourNavigator->Drive(0, 0, speed, 0);

+				break;

+			case 9:

+				ourNavigator->Drive(45, 0, speed, 0);

+				break;

+			case 0:

+				ourNavigator->Stop();

+				break;

+		}

+	}

+	else if(this->buffer[0] == 5)

+	{

+		Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);

+		if(this->buffer[1] == 1)

+		{

+			ourPositionTracker->SetPosition(float(), ourPositionTracker->GetPositionY(), ourPositionTracker->GetOrientation());

+		}

+		else if(this->buffer[1] == 0)

+		{

+			ourPositionTracker->SetPosition(0, 0, 0);

+		}

+	}

+	else if(this->buffer[0] == 6)

+	{

+		if(this->buffer[1] == 1)

+		{

+			Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);

+			ourWireless->Send("Heyho!");

+		}

+	}

+}

+

+//-----------------------------------------------------------------------------

+void Command_Handler::PrintCommand()

+{

+	Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);

+	

+	for(uint8 i = 0; i < currentCommandLength; i++)

 	{

-		this->displayDistanceSensors = true;

+		ourDisplay->Print(this->buffer[i], i + 1, 1);

 	}

 }

diff --git a/source/Concept/Framework/modules/interpreter/command_handler.h b/source/Concept/Framework/modules/interpreter/command_handler.h
index c3bc5bb..f376e96 100644
--- a/source/Concept/Framework/modules/interpreter/command_handler.h
+++ b/source/Concept/Framework/modules/interpreter/command_handler.h
@@ -12,6 +12,10 @@ public:
 		this->moduleId = 0;

 		this->currentCommandLength = 0;

 		this->displayDistanceSensors = false;

+		this->displayPositionTracker = false;

+		this->displayBallTracker = false;

+		this->displayMouseSensors = false;

+		this->ticksPerCmOffset = 0;

 

 		for(uint8 i = 0; i < COMMAND_BUFFER_SIZE; i++)

 		{

@@ -25,6 +29,10 @@ public:
 		this->moduleId = commandHandlerId;

 		this->currentCommandLength = 0;

 		this->displayDistanceSensors = false;

+		this->displayPositionTracker = false;

+		this->displayBallTracker = false;

+		this->displayMouseSensors = false;

+		this->ticksPerCmOffset = 0;

 

 		for(uint8 i = 0; i < COMMAND_BUFFER_SIZE; i++)

 		{

@@ -39,10 +47,17 @@ protected:
 	void ExecuteCommand();

 

 public:

-	void Update();	

+	void Update();

+

+	void PrintCommand();

 

 	//Command variables

 	bool displayDistanceSensors;

+	bool displayPositionTracker;

+	bool displayBallTracker;

+	bool displayMouseSensors;

+

+	float ticksPerCmOffset;

 };

 
 #endif
diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.c b/source/Concept/Framework/modules/interpreter/position_tracker.c
index f6d67ac..fab8085 100755
--- a/source/Concept/Framework/modules/interpreter/position_tracker.c
+++ b/source/Concept/Framework/modules/interpreter/position_tracker.c
@@ -3,6 +3,9 @@
 //-----------------------------------------------------------------------------

 void Position_Tracker::Update()

 {

+	Command_Handler* ourCommandHandler = parent->GetModule<Command_Handler>(IO_COMMAND_HANDLER_MAIN);

+	Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);

+

 	// We want to use the mouse-sensors

 	Mouse_Sensor* mouseLeft = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);

 	Mouse_Sensor* mouseRight = parent->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);

@@ -40,6 +43,14 @@ void Position_Tracker::Update()
 		movementRightY = 0;

 	}

 

+	if(ourCommandHandler->displayMouseSensors)

+	{

+		ourDisplay->Print(movementLeftX, 1, 2);

+		ourDisplay->Print(movementLeftY, 10, 2);

+		ourDisplay->Print(movementRightX, 1, 3);

+		ourDisplay->Print(movementRightY, 10, 3);

+	}

+

 	// Generate vector from P:left to P:right

 	float movementDifferenceX = movementRightX - movementLeftX;

 	float movementDifferenceY = (movementRightY + mouseRight->GetPositionY()) - (movementLeftY + mouseLeft->GetPositionY());

@@ -47,6 +58,11 @@ void Position_Tracker::Update()
 	// Calculate the difference of orientation

 	float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);

 

+	if(ourCommandHandler->displayMouseSensors)

+	{

+		ourDisplay->Print(orientationDiff * 180.0f / PI, 1, 4);

+	}

+

 	float robotMovementX = movementDifferenceX / 2.0f;

 	float robotMovementY = movementDifferenceY / 2.0f;

 	robotMovementX += movementLeftX + mouseLeft->GetPositionX() + (-mouseLeft->GetPositionX() * cos(orientationDiff));

diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.h b/source/Concept/Framework/modules/interpreter/position_tracker.h
index 56b16c4..7a5781f 100755
--- a/source/Concept/Framework/modules/interpreter/position_tracker.h
+++ b/source/Concept/Framework/modules/interpreter/position_tracker.h
@@ -40,18 +40,20 @@ public:
 	}

 

 	// returns x-koordinate in mm

-	int GetPositionX() 	{

-		return (int)((positionX*10.0f)/TICKS_PER_CM);

+	int16 GetPositionX() 

+	{

+		return (int16)((positionX*10.0f)/TICKS_PER_CM);

 	}

 

 	// returns y-koordinate in mm

-	int GetPositionY() 	{

-		return (int)((positionY*10.0f)/TICKS_PER_CM);

+	int16 GetPositionY() 	

+	{

+		return (int16)((positionY*10.0f)/TICKS_PER_CM);

 	}

 

 	// returns orientation

-	float GetOrientation()	{

-		//return 0.0f; //tmp!!!!!!!!!!

+	float GetOrientation()

+	{

 		return orientation;

 	}

 };

diff --git a/source/Concept/Framework/modules/logic/logic.c b/source/Concept/Framework/modules/logic/logic.c
index f698495..239e426 100755
--- a/source/Concept/Framework/modules/logic/logic.c
+++ b/source/Concept/Framework/modules/logic/logic.c
@@ -3,16 +3,51 @@
 //-----------------------------------------------------------------------------

 void Logic::OnBallOwned()

 {

+	bool wasKeeper = this->IsKeeper();

+

 	this->SetKeeper(false);

+

+	if(!WIRELESS_ACTIVE)

+	{

+		Aktuator* ourAktuator = parent->GetModule<Aktuator>(IO_AKTUATOR_MAIN);

+

+		ourAktuator->Kick();

+		this->SetKeeper(wasKeeper);

+	}

 }

 

 //-----------------------------------------------------------------------------

 void Logic::OnBallLost()

 {

-	Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);

 	

-	//ourWireless->Send(WIRELESS_CODE);

-	//ourWireless->Send();

+}

+

+//-----------------------------------------------------------------------------

+void Logic::OnBecomeKeeper()

+{

+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);

+	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);

+	

+	if(distance2d(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) > DISTANCE_TOLERANCE)

+	{

+		status = STATUS_KEEPER_RETURN_HOME;

+

+		ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetOrientation(), DEFAULT_SPEED, 0);

+	}

+	else

+	{

+		UpdateKeeperMovement();

+	}

+}

+

+//-----------------------------------------------------------------------------

+void Logic::OnBecomeAttacker()

+{

+	 Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);

+

+	 ourNavigator->Stop();

+

+	 UpdateAttackerMovement();

 }

 

 //-----------------------------------------------------------------------------

@@ -20,21 +55,217 @@ void Logic::Update()
 {

 	// We want to use a navigator

 	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);

+	Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);

+	Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);

+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);

+	Obstacle_Tracker* ourObstacleTracker = parent->GetModule<Obstacle_Tracker>(IO_OBSTACLE_TRACKER_MAIN);

+

+	if(!this->HasBall() && ourBallTracker->HasBall())

+	{

+		this->hasBall = true;

+		this->OnBallOwned();

+	}

+	else if(this->HasBall() && !ourBallTracker->HasBall())

+	{

+		this->hasBall = false;

+		this->OnBallLost();

+	}

 

-	// is Keeper?

-	if(isKeeper) {

-		// turn around al little bit...

-		if((status == STATUS_KEEPER_TURN_LEFT && !ourNavigator->IsMoving()) ||

-			 (status != STATUS_KEEPER_TURN_LEFT && status != STATUS_KEEPER_TURN_RIGHT)) {

+	switch(status)

+	{

+		case STATUS_ATTACKER_SEARCHING_AT_HOME:

+		case STATUS_ATTACKER_SEARCHING_AT_ENEMY:

+			if(ourBallTracker->KnowsBallDirection())

+			{

+				ourNavigator->Stop();

+			}

+			break;

+		case STATUS_KEEPER_HUNT_BALL:

+			if(ourBallTracker->KnowsBallDirection())

+			{

+				ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);

+			}

+			else

+			{

+				ourNavigator->Stop();

+			}

+			break;

+	}

+

+	if(!ourNavigator->IsMoving())

+	{

+		if(this->IsKeeper())

+		{

+			UpdateKeeperMovement();

+		}

+		else

+		{

+			UpdateAttackerMovement();

+		}

+	}

+	

+	if(ourNavigator->IsMoving())

+	{

+		if(ourObstacleTracker->IsObstacleOnPath())

+		{

+			avoidsObstacle = true;

+			for(uint8 i = 0; i < 5; i++)

+			{

+				if(ourObstacleTracker->IsObstacleOnPath(easyAngle(ourNavigator->GetDirection() - ((i - 2) * PI / 4.0f))))

+				{

+				}

+				ourNavigator->GetDirection();

+			}

+		}

+	}

+}

+

+//-----------------------------------------------------------------------------

+void Logic::UpdateKeeperMovement()

+{

+	Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);

+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);

+	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);

+

+	if(ourBallTracker->KnowsBallDirection())

+	{

+		if(ourBallTracker->GetBallDirection() > KEEPER_LEFT_ANGLE && 

+			ourBallTracker->GetBallDirection() <= PI)

+		{

+			if(distance2d(DEFENCE_L_LOC_X, DEFENCE_L_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)

+			{

+				float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());

+				if(angleDifference > PI)

+				{

+					angleDifference = (2 * PI) - angleDifference;

+				}

+

+				if(angleDifference > ORIENTATION_TOLERANCE)

+				{

+					status = STATUS_KEEPER_TURN_TO_BALL;

+					ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);

+				}

+				else

+				{

+					status = STATUS_KEEPER_HUNT_BALL;

+					ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);

+				}

+			}

+			else

+			{

+				status = STATUS_KEEPER_DRIVE_TO_DEFEND;

+				ourNavigator->DriveTo(DEFENCE_L_LOC_X, DEFENCE_L_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);

+			}

+		}

+		else if(ourBallTracker->GetBallDirection() < KEEPER_RIGHT_ANGLE && 

+			ourBallTracker->GetBallDirection() >= PI)

+		{

+			if(distance2d(DEFENCE_R_LOC_X, DEFENCE_R_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)

+			{

+				float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());

+				if(angleDifference > PI)

+				{

+					angleDifference = (2 * PI) - angleDifference;

+				}

+

+				if(angleDifference > ORIENTATION_TOLERANCE)

+				{

+					status = STATUS_KEEPER_TURN_TO_BALL;

+					ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);

+				}

+				else

+				{

+					status = STATUS_KEEPER_HUNT_BALL;

+					ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);

+				}

+			}

+			else

+			{

+				status = STATUS_KEEPER_DRIVE_TO_DEFEND;

+				ourNavigator->DriveTo(DEFENCE_R_LOC_X, DEFENCE_R_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);

+			}

+		}

+		else

+		{

+			if(distance2d(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)

+			{

+				float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());

+				if(angleDifference > PI)

+				{

+					angleDifference = (2 * PI) - angleDifference;

+				}

+

+				if(angleDifference > ORIENTATION_TOLERANCE)

+				{

+					status = STATUS_KEEPER_TURN_TO_BALL;

+					ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);

+				}

+				else

+				{

+					status = STATUS_KEEPER_HUNT_BALL;

+					ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);

+				}

+			}

+			else

+			{

+				status = STATUS_KEEPER_DRIVE_TO_DEFEND;

+				ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);

+			}

+		}

+	}

+	else

+	{

+		if(status == STATUS_KEEPER_TURN_LEFT)

+		{

 			status = STATUS_KEEPER_TURN_RIGHT;

-			ourNavigator->RotateTo(315,200);

+			ourNavigator->RotateTo(315, DEFAULT_ROTATION_SPEED);

 		}

-		else if(status == STATUS_KEEPER_TURN_RIGHT && !ourNavigator->IsMoving()) {

+		else

+		{

 			status = STATUS_KEEPER_TURN_LEFT;

-			ourNavigator->RotateTo(45, 200);

+			ourNavigator->RotateTo(45, DEFAULT_ROTATION_SPEED);

 		}

 	}

-	else { // is Player?

-		

+}

+

+//-----------------------------------------------------------------------------

+void Logic::UpdateAttackerMovement()

+{

+	Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);

+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);

+	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);

+

+	if(ourBallTracker->KnowsBallDirection())

+	{

+		float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());

+

+		if(angleDifference > PI)

+		{

+			angleDifference = (2 * PI) - angleDifference;

+		}

+

+		if(angleDifference > ORIENTATION_TOLERANCE)

+		{

+			status = STATUS_ATTACKER_TURN_TO_BALL;

+			ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);

+		}

+		else

+		{

+			status = STATUS_ATTACKER_DRIVE_TO_BALL;

+			ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);

+		}

+	}

+	else

+	{

+		if(ourPositionTracker->GetPositionX() > 0)

+		{

+			status = STATUS_ATTACKER_SEARCHING_AT_HOME;

+			ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);

+		}

+		else

+		{

+			status = STATUS_ATTACKER_SEARCHING_AT_ENEMY;

+			ourNavigator->DriveTo(ENEMY_LOC_X, ENEMY_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);

+		}

 	}

 }

diff --git a/source/Concept/Framework/modules/logic/logic.h b/source/Concept/Framework/modules/logic/logic.h
index ad8bad7..031e0b6 100755
--- a/source/Concept/Framework/modules/logic/logic.h
+++ b/source/Concept/Framework/modules/logic/logic.h
@@ -12,6 +12,8 @@ public:
 		this->moduleId = 0;

 		this->isKeeper = false;

 		this->status = 0;

+		this->hasBall = false;

+		this->avoidsObstacle = false;

 	}

 

 	Logic(uint32 logicId)

@@ -20,16 +22,29 @@ public:
 		this->moduleId = logicId;

 		this->isKeeper = false;

 		this->status = 0;

+		this->hasBall = false;

+		this->avoidsObstacle = false;

 	}

 

 protected:

 	bool isKeeper;

 	uint8 status;

+	bool hasBall;

+	bool avoidsObstacle;

 

 	enum LogicalStatus

 	{

 		STATUS_KEEPER_TURN_RIGHT,

 		STATUS_KEEPER_TURN_LEFT,

+		STATUS_KEEPER_RETURN_HOME,

+		STATUS_KEEPER_HUNT_BALL,

+		STATUS_KEEPER_TURN_TO_BALL,

+		STATUS_KEEPER_DRIVE_TO_DEFEND,

+

+		STATUS_ATTACKER_TURN_TO_BALL,

+		STATUS_ATTACKER_DRIVE_TO_BALL,

+		STATUS_ATTACKER_SEARCHING_AT_HOME,

+		STATUS_ATTACKER_SEARCHING_AT_ENEMY,

 	};

 

 	void OnBallOwned();

@@ -51,7 +66,8 @@ public:
 		return !isKeeper;

 	}

 

-	void SetKeeper(bool newStatus) {

+	void SetKeeper(bool newStatus)

+	{

 		if(!this->isKeeper && newStatus)

 		{

 			this->OnBecomeKeeper();

@@ -65,8 +81,11 @@ public:
 

 	bool HasBall()

 	{

-		//fill me!

+		return this->hasBall;

 	}

+

+	void UpdateKeeperMovement();

+	void UpdateAttackerMovement();

 };

 

 #endif