minor changes to Iron

entities/coach/MuricyCoach.py

@@ -11,8 +11,8 @@ def __init__(self, match):
         self.constraints = [
             #estratégia - função eleitora - robot_id
             (strategy.larc2020.GoalKeeper(self.match), self.elect_goalkeeper, 0),
-            (strategy.larc2020.Attacker(self.match), self.elect_attacker, 0),
-            (strategy.larc2020.MidFielder(self.match), self.elect_midfielder, 0)
+            (strategy.larc2020.Attacker(self.match, ctr_kwargs={'l': 0.175}), self.elect_attacker, 0),
+            (strategy.larc2020.MidFielder(self.match, ctr_kwargs={'l': 0.175}), self.elect_midfielder, 0)
         ]
 
         self.avoid_strategy = strategy.iron2021.Avoid(self.match)

strategy/larc2020/Attacker.py

@@ -19,8 +19,8 @@ def point_in_rect(point,rect):
     return False
 
 class Attacker(Strategy):
-    def __init__(self, match, plot_field=False, name="attacker"):
-        super().__init__(match, name)
+    def __init__(self, match, plot_field=False, name="attacker", ctr_kwargs={'l': 0.185}):
+        super().__init__(match, name, controller_kwargs=ctr_kwargs)
 
         """
         Ambiente para rascunhar novas estrategias com
@@ -509,7 +509,7 @@ def decide(self):
         que preferir e no final atribua algum dos comportamentos a variavel behaviour
         """
         ball = [self.match.ball.x, self.match.ball.y]
-        of_goal_area = [1.30, 0.30, 0.30, 0.70]
+        of_goal_area = [1.30, 0.30, 0.20, 0.70]
         goal_area = [-0.05, 0.30, 0.20, 0.70]
 
         min_angle_ball_to_goal = -math.atan2((self.match.ball.y - 0.55), (self.match.ball.x - 0.75*2))

strategy/larc2020/GoalKeeper.py

@@ -43,9 +43,9 @@ def proj_goaline(pos_ball, speed_ball):
     return res
 
 class GoalKeeper(Strategy):
-    def __init__(self, match, plot_field=False):
+    def __init__(self, match, plot_field=False, ctr_kwargs={'l': 0.185}):
         super().__init__(
-            match, "goalkeeper")
+            match, "goalkeeper", controller_kwargs=ctr_kwargs)
 
         """
         Essa estrategia descreve a um goleiro base, simples, que

strategy/larc2020/MidFielder.py

@@ -17,8 +17,8 @@ def point_in_rect(point,rect):
     return False
 
 class MidFielder(Strategy):
-    def __init__(self, match, plot_field=False):
-        super().__init__(match, "midfielder")
+    def __init__(self, match, plot_field=False, ctr_kwargs={'l': 0.185}):
+        super().__init__(match, "midfielder", controller_kwargs=ctr_kwargs)
 
         """
         Essa estrategia descreve a um goleiro base, simples, que