Test.m

% %äâèæåíèå áîêîì
% SpeedX = 40 * cos(angR);
% SpeedY = 40 * sin(angR);
% 
% %äâèæåíèå â òî÷êó
% angF = arctg ((y2 - y1) / (x2 - x1));
% angE = angF - angR;
% r = 100; %ðàäèóñ ðîáîòà
% err = 50; %äåëüòà, ýïñèëîí, ÷òî óãîäíî
% const = r + err;
% if (abs(RP.agent.x - RP.ball.x) > const || abs(RP.agent.y - RP.ball.y > const))
%     if (angR == angF)  %ïðèìåðíî ðàâíî; ïðèìåðíî äîëæíî áûòü äîâîëüíî áîëüøèì
%         Rule(Agent, 0, 40, 0, 0);
%     else
%         Rule(Agent, 0, 0, 0, angE * 2);
%     end 
% end

%åäåì â òî÷êó, ñðàçó ïîâîðà÷èâàåìñÿ(âî âðåìÿ äâèæåíèÿ)
% 1 - ðîáîò, 2 - ìÿ÷
SpeedX = 40 * cos(RP.Blue(N).ang);
SpeedY = 40 * sin(RP.Blue(N).ang);

angF = arctg ((RP.Ball.y - RP.Blue(N).y) / (RP.Ball.x - RP.Blue(N).x));
angE = angF - angR;

r = 100; %ðàäèóñ ðîáîòà
err = 50; %äåëüòà, ýïñèëîí
const = r + err;
if (abs(RP.Blue(N).x - RP.Ball.x) > const || abs(RP.Blue(N).y - RP.Ball.y > const))
    Rule(SpeedX, SpeedY, 0, angE * 2)
end