def drive_to_ball(self):
self.i = 0
while self.referee_module.game_status():
coordinates = self.get_coordinates.get_coordinates()
ball_coordinates = coordinates["ball"]
self.mainboard_controller.ping()
self.mainboard_controller.start_dribbler() # just in case the dribbler did not start
if ball_coordinates != -1 or self.mainboard_controller.has_ball():
if self.mainboard_controller.has_ball():
print("has ball")
self.drive_controller.stop()
self.to_goal.turns_searching = 0
self.to_goal.turn()
continue
yellow_coordinates = coordinates["yellow"]
blue_coordinates = coordinates["blue"]
print(blue_coordinates)
if blue_coordinates != -1:
print(blue_coordinates[2])
if (yellow_coordinates != -1 and yellow_coordinates[2] > 400) or (blue_coordinates != -1 and blue_coordinates[2] > 400):
print("goal too close!")
self.drive_controller.stop()
self.turn_around()
black_coordinates = coordinates["black"]
if black_coordinates != -1 and black_coordinates[3] > 400 and black_coordinates[2] > 400:
print("darkness ahead")
if self.i > 5:
self.drive_controller.stop()
self.drive_controller.drive(ball_coordinates)
self.i = 0
else:
# to avoid cases when just losing the blob for one frame
self.i += 1
if self.i > 3:
self.drive_controller.circle()
if self.i > 15:
drive_to_goal(self.get_coordinates, self.drive_controller, self.mainboard_controller)
def turn(self):
goal_coordinates = self.get_goal_coordinates()
while goal_coordinates == -1 and self.referee_module.game_status() and self.mainboard_controller.has_ball():
self.mainboard_controller.ping()
self.turns_searching += 1
self.drive_controller.around_ball(-5)
goal_coordinates = self.get_goal_coordinates()
# it cannot find gate (might be in the corner)
if self.turns_searching > 15:
drive_to_goal(self.get_coordinates, self.drive_controller, self.mainboard_controller)
self.drive_controller.stop()
in_this = 0
while self.referee_module.game_status() and self.mainboard_controller.has_ball():
self.mainboard_controller.ping()
in_this += 1
goal_coordinates = self.get_goal_coordinates()
if goal_coordinates == -1:
if in_this < 2:
continue
self.turn()
break
if in_this > 5: # searching for the gate too long already
print("Searched for too long")
self.kick()
opponent_x = goal_coordinates[0]
width = goal_coordinates[2]
if opponent_x < 350 - width / 4:
self.drive_controller.around_ball(2)
elif opponent_x > 350 + width / 4:
self.drive_controller.around_ball(-2)
else: # facing goal
print("facing!")
self.drive_controller.stop()
self.kick()
break
