96 lines
3.4 KiB
Nim
96 lines
3.4 KiB
Nim
## GotoTest — throwaway prototype to validate goto(x,y) + aimTo(x,y) controllers.
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## Diamond pattern with wall-smash north waypoint to test stuck recovery.
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## Tank Royale: Y=0 is south, Y increases northward. Arena 800x600.
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import std/[strformat, os]
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import tankroyale_botapi
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const botJsonPath = currentSourcePath().parentDir / "GotoTest.json"
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# Diamond waypoints. (400,600) is AT the north wall — physically impossible, tests wall recovery.
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const waypoints = [
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(400.0, 300.0), # center
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(400.0, 600.0), # north wall — AT wall, unreachable, tests wall-stuck recovery
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( 36.0, 300.0), # west wall (left)
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(400.0, 36.0), # south wall (bottom)
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(764.0, 300.0), # east wall (right)
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(400.0, 300.0), # center
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]
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type GotoBot = ref object of Bot
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waypointIdx: int
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oldX, oldY: float # position 3 ticks ago for stuck detection
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tickCount: int # ticks since oldX/oldY was last updated
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stuckTicks: int # remaining ticks of reverse override
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method onRoundStarted*(bot: GotoBot, e: RoundStartedEvent) =
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setAdjustGunForBodyTurn(true)
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bot.waypointIdx = 0
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bot.oldX = 0.0; bot.oldY = 0.0
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bot.tickCount = 0; bot.stuckTicks = 0
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method run(bot: GotoBot) =
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while isRunning():
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let bx = getX()
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let by = getY()
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let (tx, ty) = waypoints[bot.waypointIdx]
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let dist = distanceTo(bx, by, tx, ty)
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if dist < 40.0:
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bot.waypointIdx = (bot.waypointIdx + 1) mod waypoints.len
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# goto controller — explicit forward/reverse proportional steering
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# ponytail: no speed-taper on heading error; add when overshooting observed
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let rawBearing = normalizeRelativeAngle(directionTo(tx, ty) - getDirection())
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let (dirSign, effBearing) =
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if abs(rawBearing) > 90.0:
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(-1.0, normalizeRelativeAngle(rawBearing + 180.0))
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else:
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(1.0, rawBearing)
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let maxTurn = calcMaxTurnRate(getSpeed())
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setTurnRate(effBearing.clamp(-maxTurn, maxTurn))
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# stuck detector — ponytail: 3-tick sample, upgrade to wall-nav if needed
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inc bot.tickCount
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if bot.tickCount >= 3:
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let moved = distanceTo(bot.oldX, bot.oldY, bx, by)
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if moved < 1.0 and dist >= 30.0:
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bot.stuckTicks = 6
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echo &"STUCK at ({bx:.1f},{by:.1f}) moved={moved:.2f} — reversing"
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bot.oldX = bx; bot.oldY = by
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bot.tickCount = 0
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if bot.stuckTicks > 0:
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# reverse current speed direction to unstick
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let targetSpd = if getSpeed() >= 0.0: -8.0 else: 8.0
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setTargetSpeed(targetSpd)
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dec bot.stuckTicks
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else:
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let rawSpeed = getNewTargetSpeed(MAX_SPEED, abs(getSpeed()), dist)
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setTargetSpeed(dirSign * rawSpeed)
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# aimTo arena center — radarBearingTo reuses getX/getY/getGunDirection internally
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let cx = getArenaWidth().float / 2.0
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let cy = getArenaHeight().float / 2.0
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let gunTurnNeeded = normalizeRelativeAngle(directionTo(cx, cy) - getGunDirection())
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setGunTurnRate(gunTurnNeeded.clamp(-MAX_GUN_TURN_RATE, MAX_GUN_TURN_RATE))
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echo &"pos=({bx:.1f},{by:.1f}) target=({tx:.1f},{ty:.1f}) dist={dist:.1f} spd={getSpeed():.2f} stuck={bot.stuckTicks}"
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# Debug graphics: waypoint circles + line to current target
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for i, (wx, wy) in waypoints:
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if i == bot.waypointIdx:
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setStrokeColor(RED)
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else:
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setStrokeColor(GRAY)
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drawCircle(wx, wy, 10.0)
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setStrokeColor(YELLOW)
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drawLine(bx, by, tx, ty)
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go()
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when isMainModule:
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var bot = GotoBot()
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start(bot, botJsonPath)
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