/*
 * GoToBall.java
 */

package JavaSoccer.teams;

import	EDU.gatech.cc.is.util.Vec2;
import	EDU.gatech.cc.is.abstractrobot.*;
//Clay not used

/**
 * This is about the simplest possible soccer strategy, just go to the ball.
 * <P>
 * <A HREF="../COPYRIGHT.html">Copyright</A>
 * (c)1997 Georgia Tech Research Corporation
 *
 * @author Tucker Balch
 * @version $Revision: 1.1 $
 */


public class GoToBall extends ControlSystemSS
	{
	/**
	Configure the Avoid control system.  This method is
	called once at initialization time.  You can use it
	to do whatever you like.
	*/
	public void Configure()
		{
		}
		
	
	/**
	Called every timestep to allow the control system to
	run.
	*/
	public int TakeStep()
		{
		Vec2	result,ball;
		long	curr_time = abstract_robot.getTime();
	
		// get vector to the ball
		ball = abstract_robot.getBall(curr_time);

		// set heading towards it
		abstract_robot.setSteerHeading(curr_time, ball.t);

		// set speed at maximum
		abstract_robot.setSpeed(curr_time, 1.0);

		// kick it if we can
		if (abstract_robot.canKick(curr_time))
			abstract_robot.kick(curr_time);

		// tell the parent we're OK
		return(CSSTAT_OK);
		}
	}