def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we our switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we our switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
def orbitBeforeKick(player):
"""
State for circling the ball when we're facing our goal.
"""
brain = player.brain
my = brain.my
if player.firstFrame():
player.orbitStartH = my.h
brain.CoA.setRobotGait(brain.motion)
brain.tracker.trackBall()
shotPoint = KickingHelpers.getShotCloseAimPoint(player)
bearingToGoal = MyMath.getRelativeBearing(my.x, my.y, my.h,
shotPoint[0],
shotPoint[1] )
spinDir = -MyMath.sign(bearingToGoal)
player.brain.nav.orbitAngle(spinDir * 90)
if not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif brain.ball.dist > constants.STOP_ORBIT_BALL_DIST:
return player.goLater('chase')
if player.brain.nav.isStopped() and not player.firstFrame():
return player.goLater('positionForKick')
return player.stay()
def kickBallStraightShort(player):
if player.brain.ball.on:
player.kickDecider.ballForeWhichFoot()
elif ChaseBallTransitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
else :
return player.stay()
player.brain.tracker.trackBall()
ballForeFoot = player.kickDecider.ballForeFoot
if ballForeFoot == constants.LEFT_FOOT:
player.chosenKick = SweetMoves.SHORT_QUICK_LEFT_KICK
return player.goNow('kickBallExecute')
elif ballForeFoot == constants.RIGHT_FOOT:
player.chosenKick = SweetMoves.SHORT_QUICK_RIGHT_KICK
return player.goNow('kickBallExecute')
elif ballForeFoot == constants.MID_RIGHT:
player.chosenKick = SweetMoves.SHORT_QUICK_RIGHT_KICK
return player.goNow('stepForRightFootKick')
elif ballForeFoot == constants.MID_LEFT:
player.chosenKick = SweetMoves.SHORT_QUICK_LEFT_KICK
return player.goNow('stepForLeftFootKick')
else : # INCORRECT_POS
return player.goLater('positionForKick')
def afterKick(player):
"""
State to follow up after a kick.
Currently exits after one frame.
"""
# trick the robot into standing up instead of leaning to the side
if player.firstFrame():
player.hasAlignedOnce = False
player.standup()
if player.penaltyKicking:
return player.goLater('penaltyKickRelocalize')
return player.stay()
player.brain.tracker.trackBall()
if player.brain.ball.on:
player.inKickingState = False
player.brain.nav.justKicked = False
return player.goLater('chase')
if transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.nav.justKicked = False
return player.goLater('scanFindBall')
return player.stay()
def approachBall(player):
"""
Once we are aligned with the ball, approach it
"""
# Switch to other states if we should
if player.penaltyKicking and \
player.brain.ball.inOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
elif player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
elif transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
if player.firstFrame():
player.brain.nav.chaseBall()
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
return player.stay()
def orbitBeforeKick(player):
"""
State for circling the ball when we're facing our goal.
"""
brain = player.brain
my = brain.my
if player.firstFrame():
player.orbitStartH = my.h
brain.CoA.setRobotGait(brain.motion)
brain.tracker.trackBall()
shotPoint = KickingHelpers.getShotCloseAimPoint(player)
bearingToGoal = my.getRelativeBearing(shotPoint)
spinDir = -MyMath.sign(bearingToGoal)
player.brain.nav.orbitAngle(spinDir * 90)
if not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif brain.ball.dist > constants.STOP_ORBIT_BALL_DIST:
return player.goLater('chase')
if player.brain.nav.isStopped() and not player.firstFrame():
return player.goLater('positionForKick')
return player.stay()
def alignForSideKick(player):
if player.firstFrame():
player.brain.CoA.setRobotSlowGait(player.brain.motion)
player.brain.tracker.trackBall()
ball = player.brain.ball
if ball.on and player.brain.nav.isStopped():
player.kickDecider.ballForeWhichFoot()
ballForeFoot = player.kickDecider.ballForeFoot
if ballForeFoot == constants.MID_LEFT or \
ballForeFoot == constants.MID_RIGHT:
player.stopWalking()
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('kickBallExecute')
elif ballForeFoot == constants.INCORRECT_POS:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
targetY = ball.relY
sY = MyMath.sign(targetY) * constants.SIDE_STEP_MAX_SPEED
player.setSteps(0, sY, 0, constants.NUM_ALIGN_KICK_STEPS)
if ChaseBallTransitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
return player.stay()
def waitBeforeKick(player):
"""
Stop before we kick to make sure we want to kick
"""
player.inKickingState = True
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.stopWalking()
if not player.brain.nav.isStopped():
return player.stay()
if transitions.shouldKick(player):
return player.goLater('getKickInfo')
elif transitions.shouldApproachForKick(player):
player.brain.tracker.trackBall()
player.inKickingState = False
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.tracker.trackBall()
return player.goLater('scanFindBall')
elif transitions.shouldRepositionForKick(player):
player.brain.tracker.trackBall()
return player.goLater('positionForKick')
# Just don't get stuck here!
if player.counter > 50:
return player.goNow('scanFindBall')
return player.stay()
def waitBeforeKick(player):
"""
Stop before we kick to make sure we want to kick
"""
player.inKickingState = True
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.stopWalking()
if not player.brain.nav.isStopped():
return player.stay()
if transitions.shouldKick(player):
return player.goLater('getKickInfo')
elif transitions.shouldApproachForKick(player):
player.brain.tracker.trackBall()
player.inKickingState = False
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.tracker.trackBall()
return player.goLater('scanFindBall')
elif transitions.shouldRepositionForKick(player):
player.brain.tracker.trackBall()
return player.goLater('positionForKick')
# Just don't get stuck here!
if player.counter > 50:
return player.goNow('scanFindBall')
return player.stay()
def turnToBall(player):
"""
Rotate to align with the ball. When we get close, we will approach it
"""
ball = player.brain.ball
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
# Determine the speed to turn to the ball
turnRate = MyMath.clip(ball.bearing*constants.BALL_SPIN_GAIN,
-constants.BALL_SPIN_SPEED,
constants.BALL_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(turnRate) < constants.MIN_BALL_SPIN_MAGNITUDE:
turnRate = MyMath.sign(turnRate)*constants.MIN_BALL_SPIN_MAGNITUDE
if ball.on:
player.setSpeed(x=0,y=0,theta=turnRate)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def spinToBallClose(player):
"""
If the ball is really close to us, but we aren't facing it yet,
stop and spin toward it, then decide your kick.
"""
player.brain.tracker.trackBall()
ball = player.brain.ball
if (ball.relY > constants.SHOULD_STOP_Y or
ball.relY < -1*constants.SHOULD_STOP_Y):
spinDir = player.brain.my.spinDirToPoint(ball)
player.setWalk(0, 0, spinDir*constants.BALL_SPIN_SPEED)
else:
if ball.dist > constants.SHOULD_START_DIST:
player.brain.nav.chaseBall()
else:
player.stopWalking()
return player.goNow('decideKick')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def decideKick(player):
if ChaseBallTransitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
# Get references to the collected data
myLeftPostBearing = player.kickDecider.myLeftPostBearing
myRightPostBearing = player.kickDecider.myRightPostBearing
oppLeftPostBearing = player.kickDecider.oppLeftPostBearing
oppRightPostBearing = player.kickDecider.oppRightPostBearing
player.printf(player.kickDecider)
if player.penaltyKicking:
return player.goNow('penaltyKickBall')
player.kickObjective = helpers.getKickObjective(player)
if player.kickObjective == constants.OBJECTIVE_CLEAR:
return player.goNow('clearBall')
elif player.kickObjective == constants.OBJECTIVE_SHOOT_FAR or \
player.kickObjective == constants.OBJECTIVE_SHOOT_CLOSE:
return player.goNow('shootBall')
elif player.kickObjective == constants.OBJECTIVE_KICKOFF:
player.hasKickedOffKick = True
player.bigKick = False
return player.goNow('kickBallStraight')
else :
return player.goNow('clearBall')
def stepForLeftFootKick(player):
if player.firstFrame():
player.brain.CoA.setRobotSlowGait(player.brain.motion)
player.brain.tracker.trackBall()
ball = player.brain.ball
if ball.on and player.brain.nav.isStopped():
player.kickDecider.ballForeWhichFoot()
ballForeFoot = player.kickDecider.ballForeFoot
if ballForeFoot == constants.LEFT_FOOT:
player.stopWalking()
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('kickBallExecute')
# switch foot!
elif ballForeFoot == constants.RIGHT_FOOT:
player.stopWalking()
player.chosenKick = SweetMoves.RIGHT_FAR_KICK
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('kickBallExecute')
elif ballForeFoot == constants.INCORRECT_POS:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
targetY = ball.relY - constants.LEFT_FOOT_CENTER_Y
sY = MyMath.sign(targetY) * constants.SIDE_STEP_MAX_SPEED
player.setSteps(0, sY, 0, constants.NUM_ALIGN_KICK_STEPS)
if ChaseBallTransitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
return player.stay()
def turnToBall(player):
"""
Rotate to align with the ball. When we get close, we will approach it
"""
ball = player.brain.ball
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
# Determine the speed to turn to the ball
turnRate = MyMath.clip(ball.bearing * constants.BALL_SPIN_GAIN,
-constants.BALL_SPIN_SPEED,
constants.BALL_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(turnRate) < constants.MIN_BALL_SPIN_MAGNITUDE:
turnRate = MyMath.sign(turnRate) * constants.MIN_BALL_SPIN_MAGNITUDE
if ball.on:
player.setWalk(x=0, y=0, theta=turnRate)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def chaseAroundBox(player):
if player.firstFrame():
player.shouldNotChaseAroundBox = 0
player.brain.CoA.setRobotGait(player.brain.motion)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacle(
player): # Has potential to go into box!
return player.goLater('avoidObstacle')
if not transitions.shouldChaseAroundBox(player):
player.shouldChaseAroundBox += 1
else:
player.shouldChaseAroundBox = 0
if player.shouldChaseAroundBox > constants.STOP_CHASING_AROUND_BOX:
return player.goLater('chase')
ball = player.brain.ball
my = player.brain.my
if my.x > NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if ball.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if ball.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if my.x < NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if my.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if my.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
return player.stay()
def chaseAroundBox(player):
if player.firstFrame():
player.shouldNotChaseAroundBox = 0
player.brain.CoA.setRobotGait(player.brain.motion)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacle(player): # Has potential to go into box!
return player.goLater('avoidObstacle')
if not transitions.shouldChaseAroundBox(player):
player.shouldChaseAroundBox += 1
else :
player.shouldChaseAroundBox = 0
if player.shouldChaseAroundBox > constants.STOP_CHASING_AROUND_BOX:
return player.goLater('chase')
ball = player.brain.ball
my = player.brain.my
if my.x > NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if ball.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation(NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOAL_HEADING ))
if ball.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation(NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOAL_HEADING ))
if my.x < NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if my.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation( NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOAL_HEADING ))
if my.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation( NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOAL_HEADING ))
return player.stay()
def goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
else:
return player.goNow('scanFindBall')
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
kick = player.brain.kickDecider.kickInfo.getKick()
player.brain.kickDecider.currentKick = kick
if kick is None:
player.angleToOrbit = player.brain.kickDecider.kickInfo.orbitAngle
return player.goLater('orbitBall')
player.brain.kickDecider.kickInfo = \
KickInformation.KickInformation(player)
player.brain.nav.kickPosition(kick)
player.inKickingState = True
player.ballTooFar = 0
player.brain.tracker.trackBall()
# something has gone wrong, maybe the ball was moved?
if (player.brain.ball.dist > PFK_BALL_CLOSE_ENOUGH or
player.brain.ball.framesOff > PFK_BALL_VISION_FRAMES):
player.ballTooFar += 1
if player.ballTooFar > BUFFER_FRAMES_THRESHOLD:
return player.goNow('chase')
else:
player.ballTooFar = 0
# Leave this state if necessary
if transitions.shouldKick(player):
return player.goNow('kickBallExecute')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
player.inKickingState = False
return player.goLater('scanFindBall')
else:
if transitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
if transitions.shouldApproachFromPositionForKick(player):
player.inKickingState = False
return player.goLater('approachBall')
if not player.brain.play.isRole(GOALIE):
if transitions.shouldDribble(player):
return player.goNow('dribble')
return player.stay()
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
player.brain.CoA.setRobotSlowGait(player.brain.motion)
ball = player.brain.ball
player.inKickingState = True
# Leave this state if necessary
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif transitions.shouldTurnToBallFromPositionForKick(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('turnToBall')
elif transitions.shouldApproachFromPositionForKick(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
# Determine approach speed
targetY = ball.relY
sY = MyMath.clip(targetY * constants.PFK_Y_GAIN,
constants.PFK_MIN_Y_SPEED,
constants.PFK_MAX_Y_SPEED)
sY = max(constants.PFK_MIN_Y_MAGNITUDE,sY) * MyMath.sign(sY)
if transitions.shouldApproachForKick(player):
targetX = (ball.relX -
(constants.BALL_KICK_LEFT_X_CLOSE +
constants.BALL_KICK_LEFT_X_FAR) / 2.0)
sX = MyMath.clip(ball.relX * constants.PFK_X_GAIN,
constants.PFK_MIN_X_SPEED,
constants.PFK_MAX_X_SPEED)
else:
sX = 0.0
if ball.on:
player.setSpeed(sX,sY,0)
return player.stay()
def approachBallWalk(player):
"""
Method that is used by both approach ball and dribble
We use things as to when we should leave and how we should walk
"""
if not player.brain.play.isRole(GOALIE):
if transitions.shouldNotGoInBox(player):
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
return player.goLater('chaseAroundBox')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
return player.goLater('avoidObstacle')
# Determine our speed for approaching the ball
ball = player.brain.ball
if player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
sX = MyMath.clip(ball.dist * constants.APPROACH_X_GAIN,
constants.MIN_APPROACH_X_SPEED,
constants.MAX_APPROACH_X_SPEED)
else:
sX = constants.MAX_APPROACH_X_SPEED
# Determine the speed to turn to the ball
sTheta = MyMath.clip(ball.bearing * constants.APPROACH_SPIN_GAIN,
-constants.APPROACH_SPIN_SPEED,
constants.APPROACH_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
sTheta = 0.0
# Set our walk towards the ball
if ball.on:
player.setWalk(sX, 0, sTheta)
return player.stay()
def approachBallWalk(player):
"""
Method that is used by both approach ball and dribble
We use things as to when we should leave and how we should walk
"""
if player.brain.playbook.role != pbc.GOALIE:
if transitions.shouldNotGoInBox(player):
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
return player.goLater('chaseAroundBox')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
return player.goLater('avoidObstacle')
# Determine our speed for approaching the ball
ball = player.brain.ball
if player.brain.playbook.role == pbc.GOALIE and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
sX = MyMath.clip(ball.dist*constants.APPROACH_X_GAIN,
constants.MIN_APPROACH_X_SPEED,
constants.MAX_APPROACH_X_SPEED)
else :
sX = constants.MAX_APPROACH_X_SPEED
# Determine the speed to turn to the ball
sTheta = MyMath.clip(ball.bearing*constants.APPROACH_SPIN_GAIN,
-constants.APPROACH_SPIN_SPEED,
constants.APPROACH_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
sTheta = 0.0
# Set our walk towards the ball
if ball.on:
player.setSpeed(sX,0,sTheta)
return player.stay()
def orbitBall(player):
"""
State to orbit the ball
"""
if player.firstFrame():
player.brain.nav.orbitAngle(player.angleToOrbit)
player.brain.tracker.trackBall()
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
if transitions.shouldChaseFromPositionForKick(player):
return player.goLater('chase')
elif player.brain.nav.isStopped():
return player.goLater('chase')
return player.stay()
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
player.brain.CoA.setRobotSlowGait(player.brain.motion)
ball = player.brain.ball
player.inKickingState = True
# Leave this state if necessary
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif transitions.shouldTurnToBallFromPositionForKick(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('turnToBall')
elif transitions.shouldApproachFromPositionForKick(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
# Determine approach speed
targetY = ball.relY
sY = MyMath.clip(targetY * constants.PFK_Y_GAIN, constants.PFK_MIN_Y_SPEED,
constants.PFK_MAX_Y_SPEED)
sY = max(constants.PFK_MIN_Y_MAGNITUDE, sY) * MyMath.sign(sY)
if transitions.shouldApproachForKick(player):
# targetX = (ball.relX -
# (constants.BALL_KICK_LEFT_X_CLOSE +
# constants.BALL_KICK_LEFT_X_FAR) / 2.0)
sX = MyMath.clip(ball.relX * constants.PFK_X_GAIN,
constants.PFK_MIN_X_SPEED, constants.PFK_MAX_X_SPEED)
else:
sX = 0.0
if ball.on:
player.setWalk(sX, sY, 0)
return player.stay()
def approachDangerousBall(player):
if player.firstFrame():
player.stopWalking()
#print "approach dangerous ball"
#single steps towards ball and goal with spin
player.setSteps(0, 0, 0, 0)
if not goalTran.dangerousBall(player):
return player.goLater('approachBall')
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
return player.stay()
def approachDangerousBall(player):
if player.firstFrame():
player.stopWalking()
#print "approach dangerous ball"
#single steps towards ball and goal with spin
player.setSteps(0, 0, 0, 0)
if not goalTran.dangerousBall(player):
return player.goLater('approachBall')
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
return player.stay()
def goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
# Check in order of importance
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
def approachDangerousBall(player):
ball = player.brain.ball
my = player.brain.my
if player.firstFrame():
player.stopWalking()
#move away from the ball so it is no longer dangerous
if player.brain.nav.isStopped():
if ball.relY > 0:
player.brain.nav.walk(0, -15, 0)
else:
player.brain.nav.walk(0, 15, 0)
if not goalTran.dangerousBall(player):
return player.goLater('chase')
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we are switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
return player.goNow('goalieChase')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
else:
return player.goNow('scanFindBall')
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
kick = player.brain.kickDecider.kickInfo.getKick()
player.brain.kickDecider.currentKick = kick
if kick is None:
player.angleToOrbit = player.brain.kickDecider.kickInfo.orbitAngle
return player.goLater('orbitBall')
player.inKickingState = True
if transitions.shouldKickNow(player):
return player.goLater('kickBallExecute')
player.brain.nav.kickPosition(kick)
player.brain.tracker.trackBall()
# Leave this state if necessary
if transitions.shouldStopAndKick(player):
return player.goLater('preKickStop')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
player.inKickingState = False
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
if transitions.shouldChaseFromPositionForKick(player):
player.inKickingState = False
return player.goLater('chase')
if not player.brain.play.isRole(GOALIE):
if transitions.shouldDribble(player):
return player.goLater('dribble')
if player.brain.nav.isStopped():
kick = player.brain.kickDecider.kickInfo.getKick()
player.brain.nav.kickPosition(kick)
return player.stay()
def dribble(player):
"""
Keep running at the ball, but dribble
"""
if player.firstFrame():
player.brain.nav.dribble()
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
# if we should stop dribbling, see what else we should do
if transitions.shouldStopDribbling(player):
# may not be appropriate due to turned out feet...
if transitions.shouldStopBeforeKick(player):
return player.goLater('stopBeforeKick')
if transitions.shouldPositionForKick(player):
return player.goLater('decideKick')
elif transitions.shouldChaseBall(player):
return player.goLater('chase')
return player.stay()
def approachDangerousBall(player):
if player.firstFrame():
player.stopWalking()
#print "approach dangerous ball"
#single steps towards ball and goal with spin
#player.setSteps(0, 0, 0, 0)
ball = player.brain.ball
my = player.brain.my
if player.brain.nav.isStopped():
if ball.dist >= 10:
if ball.y > my.y + 7:
player.brain.nav.walk(0, 10, 0)
elif ball.y < my.y - 7:
player.brain.nav.walk(0, -10, 0)
if not goalTran.dangerousBall(player):
return player.goLater('chase')
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def chase(player):
"""
Super State to determine what to do from various situations
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
return player.goNow('goalieChase')
# Check in order of importance
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
def approachBall(player):
"""
Once we are alligned with the ball, approach it
"""
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
if player.penaltyKicking and \
player.ballInOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
# Switch to other states if we should
if player.brain.play.isRole(GOALIE):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
else:
if transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
return approachBallWalk(player)
def approachBall(player):
"""
Once we are alligned with the ball, approach it
"""
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else :
player.brain.tracker.trackBall()
if player.penaltyKicking and \
player.ballInOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
# Switch to other states if we should
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
else:
if transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
return approachBallWalk(player)
def spinToKick(player):
"""
If the ball is behind the tip of our foot, but outside it, spin
"""
player.brain.tracker.trackBall()
ball = player.brain.ball
if (ball.relY > constants.SHOULD_SPIN_TO_KICK_Y or
ball.relY < -1*constants.SHOULD_SPIN_TO_KICK_Y):
spinDir = player.brain.my.spinDirToPoint(ball)
player.setWalk(0,0,spinDir*constants.BALL_SPIN_SPEED)
else:
if ball.dist > constants.SHOULD_SPIN_TO_KICK_DIST:
player.brain.nav.chaseBall()
else:
player.stopWalking()
return player.goNow('decideKick')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
# Check in order of importance
#tells the goalie what state its in
if player.firstFrame():
player.isChasing = True
player.isPositioning = False
player.isSaving = False
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
def decideKick(player):
if ChaseBallTransitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
player.printf(player.kickDecider)
if player.penaltyKicking:
return player.goNow('penaltyKickBall')
player.kickObjective = helpers.getKickObjective(player)
if player.kickObjective == constants.OBJECTIVE_CLEAR:
return player.goNow('clearBall')
elif player.kickObjective == constants.OBJECTIVE_SHOOT_FAR or \
player.kickObjective == constants.OBJECTIVE_SHOOT_CLOSE:
return player.goNow('shootBall')
elif player.kickObjective == constants.OBJECTIVE_KICKOFF:
player.hasKickedOffKick = True
player.bigKick = False
return player.goNow('kickBallStraight')
else :
return player.goNow('clearBall')
def approachBallWithLoc(player):
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.hasAlignedOnce = False
nav = player.brain.nav
my = player.brain.my
if player.brain.play.isRole(GOALIE):
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
else:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif transitions.shouldNotGoInBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('chaseAroundBox')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('avoidObstacle')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
dest = player.getApproachPosition()
useOmni = my.dist(dest) <= \
constants.APPROACH_OMNI_DIST
changedOmni = False
if useOmni != nav.movingOmni():
player.changeOmniGoToCounter += 1
else:
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > PositionConstants.CHANGE_OMNI_THRESH:
changedOmni = True
if player.firstFrame() or \
nav.dest != dest or \
changedOmni:
if not useOmni:
player.brain.CoA.setRobotGait(player.brain.motion)
nav.goTo(dest)
else:
player.brain.CoA.setRobotSlowGait(player.brain.motion)
nav.omniGoTo(dest)
return player.stay()
def approachBallWithLoc(player):
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.hasAlignedOnce = False
nav = player.brain.nav
my = player.brain.my
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
else:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif transitions.shouldNotGoInBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('chaseAroundBox')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('avoidObstacle')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else :
player.brain.tracker.trackBall()
dest = player.getApproachPosition()
useOmni = MyMath.dist(my.x, my.y, dest[0], dest[1]) <= \
constants.APPROACH_OMNI_DIST
changedOmni = False
if useOmni != nav.movingOmni:
player.changeOmniGoToCounter += 1
else :
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > PositionConstants.CHANGE_OMNI_THRESH:
changedOmni = True
if player.firstFrame() or \
nav.destX != dest[0] or \
nav.destY != dest[1] or \
nav.destH != dest[2] or \
changedOmni:
if not useOmni:
player.brain.CoA.setRobotGait(player.brain.motion)
nav.goTo(dest)
else:
player.brain.CoA.setRobotSlowGait(player.brain.motion)
nav.omniGoTo(dest)
return player.stay()