def executeDribble(player):
"""
Move through the ball, so as to execute a dribble.
"""
if transitions.ballToOurLeft(player):
player.kick = kicks.LEFT_DRIBBLE
else:
player.kick = kicks.RIGHT_DRIBBLE
ball = player.brain.ball
kick_pos = player.kick.getPosition()
player.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
if player.firstFrame():
player.aboutToRotate = False
player.ballBeforeDribble = ball
if player.corner_dribble:
player.brain.nav.goTo(player.kickPose,
Navigator.PRECISELY,
Navigator.CAREFUL_SPEED,
False,
False)
else:
player.brain.nav.goTo(player.kickPose,
Navigator.PRECISELY,
Navigator.GRADUAL_SPEED,
False,
False)
else:
player.brain.nav.updateDest(player.kickPose)
if player.corner_dribble:
if transitions.ballLost(player) or transitions.ballGotFarAway(player):
player.corner_dribble = False
return player.goLater('approachBall')
elif transitions.dribbleGoneBad(player):
return player.goNow('positionForDribble')
elif transitions.centerField(player):
player.corner_dribble = False
return player.goLater('approachBall')
else:
if transitions.ballLost(player):
return player.goNow('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
return player.goLater('approachBall')
elif not transitions.centerLaneOpen(player):
player.aboutToRotate = True # we will go from position to rotate
return player.goNow('positionForDribble')
elif transitions.dribbleGoneBad(player):
return player.goNow('positionForDribble')
return player.stay()
def executeDribble(player):
"""
Move through the ball, so as to execute a dribble.
"""
if transitions.ballToOurLeft(player):
player.kick = kicks.LEFT_DRIBBLE
else:
player.kick = kicks.RIGHT_DRIBBLE
ball = player.brain.ball
kick_pos = player.kick.getPosition()
player.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1], 0)
if player.firstFrame():
player.aboutToRotate = False
player.ballBeforeDribble = ball
if player.corner_dribble:
player.brain.nav.goTo(player.kickPose, Navigator.PRECISELY,
Navigator.CAREFUL_SPEED, False, False)
else:
player.brain.nav.goTo(player.kickPose, Navigator.PRECISELY,
Navigator.GRADUAL_SPEED, False, False)
else:
player.brain.nav.updateDest(player.kickPose)
if player.corner_dribble:
if transitions.ballLost(player) or transitions.ballGotFarAway(player):
player.corner_dribble = False
return player.goLater('chase')
elif transitions.dribbleGoneBad(player):
return player.goNow('positionForDribble')
elif transitions.centerField(player):
player.corner_dribble = False
return player.goLater('chase')
else:
if transitions.ballLost(player):
return player.goNow('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
return player.goLater('chase')
elif not transitions.centerLaneOpen(player):
player.aboutToRotate = True # we will go from position to rotate
return player.goNow('positionForDribble')
elif transitions.dribbleGoneBad(player):
return player.goNow('positionForDribble')
return player.stay()
def rotateToOpenSpace(player):
"""
Rotate around ball, so as to find an open lane to dribble thru
"""
if player.firstFrame():
rotateToOpenSpace.counter = 0
if transitions.rotateLeft(player):
player.setWalk(0, -.7, .25)
else:
player.setWalk(0, .7, -.25)
if transitions.ballLost(player):
return player.goNow('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
player.stand()
return player.goLater('chase')
elif rotateToOpenSpace.counter == constants.ROTATE_FC:
player.stand()
return player.goLater('decideDribble')
elif transitions.centerLaneOpen(player):
rotateToOpenSpace.counter += 1
return player.stay() # so counter is not reset, see below
rotateToOpenSpace.counter = 0
return player.stay()
def rotateToOpenSpace(player):
"""
Rotate around ball, so as to find an open lane to dribble thru
"""
if player.firstFrame():
rotateToOpenSpace.counter = 0
if transitions.rotateLeft(player):
player.setWalk(0, -.7, .25)
else:
player.setWalk(0, .7, -.25)
if transitions.ballLost(player):
return player.goNow('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
player.stand()
return player.goLater('chase')
elif rotateToOpenSpace.counter == constants.ROTATE_FC:
player.stand()
return player.goLater('decideDribble')
elif transitions.centerLaneOpen(player):
rotateToOpenSpace.counter += 1
return player.stay() # so counter is not reset, see below
rotateToOpenSpace.counter = 0
return player.stay()
def positionForDribble(player):
"""
We should position ourselves behind the ball for easy dribbling.
"""
if transitions.ballToOurLeft(player):
player.kick = kicks.LEFT_DRIBBLE
else:
player.kick = kicks.RIGHT_DRIBBLE
ball = player.brain.ball
kick_pos = player.kick.getPosition()
player.kickPose = RelRobotLocation(ball.rel_x + constants.SETUP_POSITION,
ball.rel_y - kick_pos[1],
0)
if player.firstFrame():
player.brain.nav.goTo(player.kickPose,
Navigator.GENERAL_AREA,
Navigator.MEDIUM_SPEED,
False,
False)
else:
player.brain.nav.updateDest(player.kickPose)
if player.corner_dribble:
if transitions.ballLost(player) or transitions.ballGotFarAway(player):
player.corner_dribble = False
return player.goLater('approachBall')
elif transitions.navDone(player):
return player.goLater('executeDribble')
else:
if transitions.ballLost(player):
return player.goLater('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
player.stand()
return player.goLater('approachBall')
elif player.aboutToRotate and transitions.navDone(player):
player.aboutToRotate = False
return player.goLater('rotateToOpenSpace')
elif transitions.navDone(player):
return player.goLater('decideDribble')
return player.stay()
def positionForDribble(player):
"""
We should position ourselves behind the ball for easy dribbling.
"""
if transitions.ballToOurLeft(player):
player.kick = kicks.LEFT_DRIBBLE
else:
player.kick = kicks.RIGHT_DRIBBLE
ball = player.brain.ball
kick_pos = player.kick.getPosition()
player.kickPose = RelRobotLocation(ball.rel_x + constants.SETUP_POSITION,
ball.rel_y - kick_pos[1], 0)
if player.firstFrame():
player.brain.nav.goTo(player.kickPose, Navigator.GENERAL_AREA,
Navigator.MEDIUM_SPEED, False, False)
else:
player.brain.nav.updateDest(player.kickPose)
if player.corner_dribble:
if transitions.ballLost(player) or transitions.ballGotFarAway(player):
player.corner_dribble = False
return player.goLater('chase')
elif transitions.navDone(player):
return player.goLater('executeDribble')
else:
if transitions.ballLost(player):
return player.goLater('lookForBall')
elif not transitions.shouldDribble(player):
player.inKickingState = False
player.stand()
return player.goLater('chase')
elif player.aboutToRotate and transitions.navDone(player):
player.aboutToRotate = False
return player.goLater('rotateToOpenSpace')
elif transitions.navDone(player):
return player.goLater('decideDribble')
return player.stay()
