DefenceAttackTask.java

package jp.ac.fit.asura.nao.strategy.tactics;

import static jp.ac.fit.asura.nao.motion.Motions.NAOJI_WALKER;
import jp.ac.fit.asura.nao.RobotContext;
import jp.ac.fit.asura.nao.localization.WorldObject;
import jp.ac.fit.asura.nao.misc.MathUtils;
import jp.ac.fit.asura.nao.motion.Motions;
import jp.ac.fit.asura.nao.strategy.StrategyContext;
import jp.ac.fit.asura.nao.strategy.Task;
import jp.ac.fit.asura.nao.strategy.permanent.BallTrackingTask;
import jp.ac.fit.asura.nao.strategy.permanent.BallTrackingTask.Mode;

import org.apache.log4j.Logger;

public class DefenceAttackTask extends Task {
	private static final Logger log = Logger.getLogger(DefenceAttackTask.class);
	private BallTrackingTask tracking;
	private int preBalld;
	private float preBallh;
	private int count;
	private int Goaldist;

	@Override
	public void continueTask(StrategyContext context) {
		context.getScheduler().setTTL(300);
		// 前に進み、右に行くことで相手の正面からの攻撃に備える感じです。今の値は63で調整してます。
		if (context.getWalkFlag() == false) {
			log.info("WalkFlag = 0");
			if (count < 30) {
				count++;
				if (context.hasMotion(Motions.NAOJI_WALKER))
					context.makemotion(NAOJI_WALKER, 0.1f, 0, 0);
				else
					context.makemotion(Motions.MOTION_YY_FORWARD_STEP);
//			} else if (count < 200) {
//				count++;
//				if (context.hasMotion(Motions.NAOJI_WALKER))
//					context.makemotion(NAOJI_WALKER, 0, 0, MathUtils
//							.toRadians(30));
//				else
//					context.makemotion(Motions.MOTION_LEFT_YY_TURN);
			} else if (count < 130) {
				count++;
				if (context.hasMotion(Motions.NAOJI_WALKER))
					context.makemotion(NAOJI_WALKER, 0, 0.5f, 0);//ここで右に行くか左に行くか決める
				else
					context.makemotion(Motions.MOTION_W_RIGHT_SIDESTEP);
			} else {
				context.setWalkFlag(true);
				log.info("WalkFlag = 1");
				context.getScheduler().abort();
				return;
			}
		}
		// return;
	}

	@Override
	public void enter(StrategyContext context) {
		context.getScheduler().setTTL(300);
	}

	@Override
	public void init(RobotContext context) {
		tracking = (BallTrackingTask) context.getStrategy().getTaskManager()
				.find("BallTracking");
		count = 0;
		Goaldist = 1000;
	}

	@Override
	public void leave(StrategyContext context) {
		context.setWalkFlag(true);
		
	}

	@Override
	public String getName() {
		// TODO 自動生成されたメソッド・スタブ
		return "DefenceAttackTask";
	}

}