def test():
print "in test"
mutex.acquire()
desiredPoint = param.AWAY_GOAL
while (team1_robot_state.pos_x_est > (desiredPoint.x + 0.4)) or \
(team1_robot_state.pos_y_est > (desiredPoint.y + 0.3) or team1_robot_state.pos_y_est < (desiredPoint.y - 0.3)):
starting_point = str(int(param.meterToPixel(team1_robot_state.pos_x_est))) + ',' + str(int(param.meterToPixel(team1_robot_state.pos_y_est)))
end_point = str(int(param.meterToPixel(param.AWAY_GOAL.x))) + ',' + str(int(param.meterToPixel(param.AWAY_GOAL.y)))
print starting_point
print end_point
# visited, shortest = path.shortest_path(graph, '-10,0' , '0,0')
#
# print shortest
# point = shortest[10]
# x,y = point.split(',')
# next_point = Point.Point(x, y)
#
# command = MotionSkills.go_to_point(team1_robot_state, next_point)
#
# velchange.goXYOmega(command.vel_x, command.vel_y, team1_robot_state.pos_theta_est)
# time.sleep(robot_update_delay)
# desiredPoint = Point.Point(param.pixelToMeter(0), param.pixelToMeter(0))
# go_to_point2(desiredPoint.x, desiredPoint.y, param.HOME_GOAL)
# time.sleep(0.01)
velchange.goXYOmega(0,0,0)
def obstruction(start, end, team2_robot_state):
team2_x = param.meterToPixel(team2_robot_state.pos_x_est)
team2_y = param.meterToPixel(team2_robot_state.pos_y_est)
ray = br.bresenham([param.meterToPixel(start.x), param.meterToPixel(start.y)], [param.meterToPixel(end.x), param.meterToPixel(end.y)])
for point in ray.path:
print point[0], "," , point[1]
if point[0] < (team2_x + 30) and point[0] > (team2_x - 30) and \
point[1] < (team2_y + 30) and point[1] > (team2_y - 30):
return True
return False
def test():
print "in test"
mutex.acquire()
start = Point.Point(team1_robot_state.pos_x_est, team1_robot_state.pos_y_est)
end = Point.Point(-350, 0)
print "Start:", param.meterToPixel(start.x) , ", " , param.meterToPixel(start.y)
print "End:", int(end.x) , ", " , int(end.y)
obstruction = ray.obstruction(start,end,team2_robot_state)
if obstruction == True:
print "obstruction"
else:
print "clear line of sight"
def one_on_one():
mutex.acquire()
state = "idle"
start = default_timer()
ball_prev_x = ball.x
ball_prev_y = ball.y
while True:
if goal_scored() and state != "idle":
print "goal scored", param.meterToPixel(ball.x)
state = "reset"
# If there's input ready, do something, else do something
# else. Note timeout is zero so select won't block at all.
while sys.stdin in select.select([sys.stdin], [], [], 0)[0]:
command = sys.stdin.readline().strip().lower()
if command == "r":
state = "reset"
elif command == "s":
state = "defend"
elif command == "k":
velchange.goXYOmega(0,0,0)
state = "idle"
if state == "idle":
print "state: idle"
pass
elif state == "defend":
print "state: defend"
if ball.x < 0:
# transition
state = "score"
else:
# save state
ball_prev_x = ball.x
ball_prev_y = ball.y
# restart timer
start = default_timer()
# transition
state = "defend_goal"
elif state == "defend_goal":
print "state: defend_goal"
if ball.x < 0:
# transition
state = "score"
continue
if abs(ball.x - ball_prev_x) < 0.02 and abs(ball.y - ball_prev_y) < 0.02:
if default_timer() - start > 0.5:
# transition
state = "score"
else:
defend_goal()
else:
start = default_timer()
ball_prev_x = ball.x
ball_prev_y = ball.y
defend_goal()
elif state == "score":
print "state: score"
go_to_point_behind_ball()
rush_goal()
state = "defend"
elif state == "reset":
print "state: reset"
go_prepare_spin()
state = "idle"
