def rush_goal():
print "rush goal"
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)):
if team1_robot_state.pos_x_est < ball.x:
print "break"
break
targetAngle = MotionSkills.angleBetweenPoints(Point.Point(team1_robot_state.pos_x_est, team1_robot_state.pos_y_est), desiredPoint)
radian180 = param.degreeToRadian(180)
radian360 = param.degreeToRadian(360)
radian5 = param.degreeToRadian(5)
anglediff = (team1_robot_state.pos_theta_est - targetAngle + radian180) % radian360 - radian180
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
omega = angular_command.omega
if(anglediff <= radian5 and anglediff >= -radian5):
omega = 0
command = MotionSkills.go_to_point(team1_robot_state, desiredPoint)
velchange.goXYOmegaTheta(command.vel_x, command.vel_y, omega, team1_robot_state.pos_theta_est)
time.sleep(robot_update_delay)
# kick.kick()
velchange.goXYOmega(0,0,0)
def go_to_center():
mutex.acquire()
desiredPoint = param.CENTER
while (team1_robot_state.pos_x_est > (desiredPoint.x + 0.05) or team1_robot_state.pos_x_est < (desiredPoint.x - 0.05)) or \
(team1_robot_state.pos_y_est > (desiredPoint.y + 0.05) or team1_robot_state.pos_y_est < (desiredPoint.y - 0.05)):
targetAngle = MotionSkills.angleBetweenPoints(Point.Point(team1_robot_state.pos_x_est, team1_robot_state.pos_y_est), desiredPoint)
radian180 = param.degreeToRadian(180)
radian360 = param.degreeToRadian(360)
radian5 = param.degreeToRadian(7)
anglediff = (team1_robot_state.pos_theta_est - targetAngle + radian180) % radian360 - radian180
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
omega = angular_command.omega
if(anglediff <= radian5 and anglediff >= -radian5):
omega = 0
command = MotionSkills.go_to_point(team1_robot_state, desiredPoint)
velchange.goXYOmegaTheta(command.vel_x, command.vel_y, omega , team1_robot_state.pos_theta_est)
time.sleep(robot_update_delay)
velchange.goXYOmega(0,0,0)
def go_to_point_behind_ball():
desiredPoint = MotionSkills.getPointBehindBall(ball, param.AWAY_GOAL)
while (team1_robot_state.pos_x_est > (desiredPoint.x + 0.13) or team1_robot_state.pos_x_est < (desiredPoint.x - 0.13)) or \
(team1_robot_state.pos_y_est > (desiredPoint.y + 0.13) or team1_robot_state.pos_y_est < (desiredPoint.y - 0.13)):
robot_point = Point.Point(team1_robot_state.pos_x_est, team1_robot_state.pos_y_est)
desiredPoint = MotionSkills.getPointBehindBall(ball, param.AWAY_GOAL)
targetAngle = MotionSkills.angleBetweenPoints(Point.Point(team1_robot_state.pos_x_est, team1_robot_state.pos_y_est), param.AWAY_GOAL)
radian180 = param.degreeToRadian(180)
radian360 = param.degreeToRadian(360)
radian5 = param.degreeToRadian(5)
anglediff = (team1_robot_state.pos_theta_est - targetAngle + radian180) % radian360 - radian180
command = MotionSkills.go_to_point(team1_robot_state, desiredPoint)
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
omega = angular_command.omega
if(anglediff <= radian5 and anglediff >= -radian5):
omega = 0
velchange.goXYOmegaTheta(command.vel_x, command.vel_y, omega, team1_robot_state.pos_theta_est)
time.sleep(robot_update_delay)
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
velchange.goXYOmega(0,0,angular_command.omega)
time.sleep(angular_command.runTime)
velchange.goXYOmega(0,0,0)
def go_to_point2(x, y, lookAtPoint=None):
print "go_to_point2"
if lookAtPoint == None:
lookAtPoint = ball
desired_x = x
desired_y = y
vektor_x = (desired_x-team1_robot_state.pos_x_est) * param.SCALE_VEL
vektor_y = (desired_y-team1_robot_state.pos_y_est) * param.SCALE_VEL
mag = math.sqrt(vektor_x**2+vektor_y**2)
angle = math.atan2(lookAtPoint.y-team1_robot_state.pos_y_est, lookAtPoint.x-desired_x-team1_robot_state.pos_x_est)
delta_angle = angle-desired_x-team1_robot_state.pos_theta_est
bestDelta = math.atan2(math.sin(delta_angle), math.cos(delta_angle)) * param.SCALE_OMEGA
#print bestDelta
if mag >= param.MAX_SPEED:
vektor_x = (param.MAX_SPEED/mag)*vektor_x
vektor_y = (param.MAX_SPEED/mag)*vektor_y
elif mag < param.MIN_SPEED:
vektor_x = 0
vektor_y = 0
if bestDelta < param.MIN_DELTA and bestDelta > -param.MIN_DELTA:
bestDelta = 0
# self.sendCommand(vektor_x, vektor_y, bestDelta, self.robotLocation.theta)
velchange.goXYOmegaTheta(vektor_x, vektor_y, bestDelta , team1_robot_state.pos_theta_est)
def defend_goal():
# vel_x = 0
# if float(ball_y) < 85 and float(ball_y) > -75:
# if state.pos_y_est > param.pixelToMeter(float(ball_y)):
# vel_x = -0.7
# else:
# vel_x = 0.7
# velchange.goXYOmega(0,vel_x,0)
# else:
# velchange.goXYOmega(0,0,0)
desiredPoint = Point.Point(param.HOME_GOAL.x - 0.32 , ball.y)
# keep robot within the bounds of the goal
if desiredPoint.y > param.HOME_GOAL.y + 0.4:
desiredPoint.y = param.HOME_GOAL.y + 0.4
elif desiredPoint.y < param.HOME_GOAL.y - 0.4:
desiredPoint.y = param.HOME_GOAL.y - 0.4
# move to the desiredPoint
while (team1_robot_state.pos_x_est > (desiredPoint.x + 0.1) or team1_robot_state.pos_x_est < (desiredPoint.x - 0.1)) or \
(team1_robot_state.pos_y_est > (desiredPoint.y + 0.1) or team1_robot_state.pos_y_est < (desiredPoint.y - 0.1)):
command = MotionSkills.go_to_point(team1_robot_state, desiredPoint)
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
omega = angular_command.omega
velchange.goXYOmegaTheta(command.vel_x, command.vel_y, omega, team1_robot_state.pos_theta_est)
time.sleep(goalie_update_delay)
velchange.goXYOmega(0,0,0)
def defend_goal():
# vel_x = 0
# if float(ball_y) < 85 and float(ball_y) > -75:
# if state.pos_y_est > param.pixelToMeter(float(ball_y)):
# vel_x = -0.7
# else:
# vel_x = 0.7
# velchange.goXYOmega(0,vel_x,0)
# else:
# velchange.goXYOmega(0,0,0)
desiredPoint = Point.Point(param.HOME_GOAL.x - 0.42 , ball.y)
# keep robot within the bounds of the goal
if desiredPoint.y > param.HOME_GOAL.y + 0.3:
desiredPoint.y = param.HOME_GOAL.y + 0.3
elif desiredPoint.y < param.HOME_GOAL.y - 0.3:
desiredPoint.y = param.HOME_GOAL.y - 0.3
# move to the desiredPoint
while (team1_robot_state.pos_x_est > (desiredPoint.x + 0.13) or team1_robot_state.pos_x_est < (desiredPoint.x - 0.13)) or \
(team1_robot_state.pos_y_est > (desiredPoint.y + 0.13) or team1_robot_state.pos_y_est < (desiredPoint.y - 0.13)):
desiredPoint = Point.Point(param.HOME_GOAL.x - 0.42 , ball.y)
# keep robot within the bounds of the goal
if desiredPoint.y > param.HOME_GOAL.y + 0.3:
desiredPoint.y = param.HOME_GOAL.y + 0.3
elif desiredPoint.y < param.HOME_GOAL.y - 0.3:
desiredPoint.y = param.HOME_GOAL.y - 0.3
targetAngle = MotionSkills.angleBetweenPoints(Point.Point(team1_robot_state.pos_x_est, team1_robot_state.pos_y_est), param.AWAY_GOAL)
radian180 = param.degreeToRadian(180)
radian360 = param.degreeToRadian(360)
radian5 = param.degreeToRadian(7)
anglediff = (team1_robot_state.pos_theta_est - targetAngle + radian180) % radian360 - radian180
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
omega = angular_command.omega
if(anglediff <= radian5 and anglediff >= -radian5):
omega = 0
command = MotionSkills.go_to_point(team1_robot_state, desiredPoint)
velchange.goXYOmegaTheta(command.vel_x, command.vel_y, omega, team1_robot_state.pos_theta_est)
time.sleep(goalie_update_delay)
velchange.goXYOmega(0,0,0)
def go_to_home():
mutex.acquire()
desiredPoint = Point.Point(param.HOME_GOAL.x - 0.5, 0)
while (team1_robot_state.pos_x_est > (desiredPoint.x + 0.1) or team1_robot_state.pos_x_est < (desiredPoint.x - 0.1)) or \
(team1_robot_state.pos_y_est > (desiredPoint.y + 0.1) or team1_robot_state.pos_y_est < (desiredPoint.y - 0.1)):
command = MotionSkills.go_to_point(team1_robot_state, desiredPoint)
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
omega = angular_command.omega
velchange.goXYOmegaTheta(command.vel_x, command.vel_y, omega, team1_robot_state.pos_theta_est)
time.sleep(robot_update_delay)
velchange.goXYOmega(0,0,0)
def go_prepare_spin():
mutex.acquire()
desiredPoint = Point.Point(param.pixelToMeter(90), 0)
while (team1_robot_state.pos_x_est > (desiredPoint.x + 0.1) or team1_robot_state.pos_x_est < (desiredPoint.x - 0.1)) or \
(team1_robot_state.pos_y_est > (desiredPoint.y + 0.1) or team1_robot_state.pos_y_est < (desiredPoint.y - 0.1)):
command = MotionSkills.go_to_point(team1_robot_state, desiredPoint)
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
omega = angular_command.omega
velchange.goXYOmegaTheta(command.vel_x, command.vel_y, 2.0, team1_robot_state.pos_theta_est)
time.sleep(robot_update_delay)
angular_command = MotionSkills.go_to_angle(team1_robot_state, param.AWAY_GOAL)
velchange.goXYOmega(0,0,angular_command.omega)
time.sleep(angular_command.runTime)
velchange.goXYOmega(0,0,0)
