RR2 Flipper AI

//FLIPPER AI V1.0
//By Hobo_Drew
//This is AI for flippers in RR2 that use pistons to fire.
//Use toggle switch with 'control as servo' turned on as controls for the flipper. Use button 1.
//Massive thanks to KupaTec for basically teaching me how to code miniscript.


// USER-CREATED FUNCTIONS

isVector = function(v); vx = v.hasIndex("x"); vy = v.hasIndex("y"); vz = v.hasIndex("z"); if vx*vy*vz == 1 then; return true; else; return false; end if;end function

// getDistance is a function that computes the distance betwen two points in meters.
getDistance = function(v1,v2); return sqrt((v2.x-v1.x)*(v2.x-v1.x) + (v2.y-v1.y)*(v2.y-v1.y) + (v2.z-v1.z)*(v2.z-v1.z)); end function

// getMyRobot is a function that returns a map of our robot.  Sometimes our robot is not robots[0].
getMyRobot = function(); for robot in robots; if robot.tag == myTag then; return robot; end if; end for; end function

// getNearestEnemy is a function that returns a map of the closest robot to us that is not us.
getNearestEnemy = function(); pos = getMyRobot().position;nearestEnemyDistance = 1000000;nearestEnemy = {};for robot in robots;if robot.tag != myTag then;testDistance = getDistance(pos,robot.position);if testDistance < nearestEnemyDistance then;nearestEnemyDistance = testDistance;nearestEnemy = robot;end if;end if;end for;return nearestEnemy;end function




//=======USER INPUTS=======
//These have to be adjusted as they fluctuate depending on the flipper.
//Using the same terms as Kupa in hopes that they'll be accepted as universal terms so that RR2 AI becomes easier to understand.

//width of the zone the enemy has to be in for the flipper to activate. Minimum=0, maximum=1. Goes in the shape of a circle.
weaponFOV = 0.15

//amount of time the flipper waits before firing the weapon.
weaponDelay = 0.1

//amount of time the robot waits before retracting the weapon.
weaponRecharge = 0.3

//size of the zone the enemy has to be in for the flipper to activate. Changes the diameter of aforementioned circle.
weaponRange = 0.7
//==========================




// This 'wait' was an attempt to stop the flipper from firing the second the match started, but it didn't work.
wait(1)




//main loop
while 1

    //locate opponent and self
    e = getNearestEnemy()
    me = getMyRobot()

    //Drive and turn towards opponent
    drive = driveToward(e.position)
    turn = turnToward(e.position)

    //finds the distance between you and the opponent
    distance = getDistance(me.position,e.position)


    //weapon mechanism AI. Instead of Kupa's 'normalize' code, I used abs(). It does the same thing.
    if(distance < weaponRange) and (abs(turn) < weaponFOV) then
		button1 = 1
        aistate = "fire weapon"
        wait(weaponDelay)
        button1 = -1
        aistate = "reset weapon"
        wait(weaponRecharge)
    else
        button1 = false
        aistate = "out of range"
    end if


    //If inverted, self right.
    if me.upValue < 0 then
        button1 = true
        wait(weaponDelay)
	    button1 = false
	    wait(weaponRecharge)
        aistate = "self-righting"
    end if


    //If immobile, try to get free.
    if me.isImmobile() then
        button1 = true
        wait(weaponDelay)
	    button1 = false
	    wait(weaponRecharge)
        aistate = "trying to get unstuck"
    end if


    yield
end while