def findByForce():
global gForceType
global gForceFired
global gForceCounter
global gForceSpinDir
# If we need to force anything, then force it.
gForceFired = True
if gForceCounter > 0:
if gForceType == FORCE_SPIN:
findBySpin(gForceSpinDir)
elif gForceType == FORCE_FOLLOW:
if gForceCounter < 20:
findByGps()
else:
hTrack.scan()
if not gHeadOnly:
Action.walk(Action.MAX_FORWARD,0,0)
elif gForceType == FORCE_LAST_VISUAL:
hTrack.scan()
if not gHeadOnly:
walkToBall(Global.fstVisBallDist, Global.fstVisBallHead,
getBehind = gGetBehind)
Global.lostBall = 0
gForceCounter -= 1
def findByDropInSignal():
hTrack.scan()
if not gHeadOnly:
# Make sure we use gps's information, not wireless
# FIXME: if we are going to dodgy dog then don't get behind
walkToBall(Global.gpsLocalBall.getDistance(),
Global.gpsLocalBall.getHeading(),
getBehind = gGetBehind)
def findByBackingOff():
hTrack.scan()
Action.walk(-Action.MAX_FORWARD,0,0,minorWalkType=Action.SkeFastForwardMWT)
# After you backed off for a while, then use cccluded ball strategy if we need it.
if Global.lostBall >= Constant.LOST_BALL_GPS + 20:
ballX, ballY = Global.gpsGlobalBall.getPos()
import sDodgyDog
if sDodgyDog.shouldIBeDodgy(ballX,ballY):
sDodgyDog.dodgyDogTo(ballX,ballY)
def findByWireless():
hTrack.scan(highSpeed=10,minPan=-60,maxPan=60)
if not gHeadOnly:
selfX, selfY = Global.selfLoc.getPos()
# Make sure we get a ball distance from wireless info.
if Global.ballD < WIRELESS_BALL_CLOSE_DIST:
findBySpin()
else:
Action.walk(0,0,Global.ballH,minorWalkType=Action.SkeFastForwardMWT)
def findBallDefender():
time = Global.lostBall % TIMER_3
if time < TIMER_1:
turnccw = hMath.CLIP(Global.ballH,80)
Action.walk(0,0,turnccw, minorWalkType = Action.SkeFastForwardMWT)
hTrack.scan()
elif time < TIMER_2:
hFWHead.compulsoryAction = hFWHead.doNothing
sFindBall.findBySpin()
else:
targetH = Global.selfLoc.getHeading() + Global.ballH
hTrack.saGoToTargetFacingHeading(Global.selfLoc.getX(), \
Constant.FIELD_LENGTH * 0.25, targetH)
def findBallStriker():
time = Global.lostBall % TIMER_3
if time < TIMER_1:
turnccw = hMath.CLIP(Global.ballH, 80)
Action.walk(0, 0, turnccw, minorWalkType=Action.SkeFastForwardMWT)
hTrack.scan()
elif time < TIMER_2:
hFWHead.compulsoryAction = hFWHead.doNothing
sFindBall.findBySpin()
else:
targetH = Global.selfLoc.getHeading() + Global.ballH
targetX, targetY, _rangeX = hWhere.getStrikerPos(True)
hTrack.saGoToTargetFacingHeading(targetX, targetY, targetH)
def findByWireless():
hTrack.scan(highSpeed=10, minPan=-60, maxPan=60)
if not gHeadOnly:
selfX, selfY = Global.selfLoc.getPos()
# Make sure we get a ball distance from wireless info.
ballDSquared = hMath.getDistSquaredBetween(selfX, selfY,
Global.sharedBallX,
Global.sharedBallY)
if ballDSquared < hMath.SQUARE(WIRELESS_BALL_CLOSE_DIST):
findBySpin()
else:
Action.walk(0,
0,
Global.ballH,
minorWalkType=Action.SkeFastForwardMWT)
def findBall(tx, ty):
global gSpinCounter
global gTargetPointReqAccuracy
selfX, selfY = Global.selfLoc.getPos()
distSquared = hMath.getDistSquaredBetween(selfX, selfY, tx, ty)
if gSpinCounter > 0:
sFindBall.findBySpin()
gSpinCounter -= 1
elif distSquared <= hMath.SQUARE(gTargetPointReqAccuracy):
gTargetPointReqAccuracy = TARGET_PT_ACC_LARGE_CIRCLE
sFindBall.findBySpin()
gSpinCounter = 100
else:
gTargetPointReqAccuracy = TARGET_PT_ACC_SMALL_CIRCLE
hTrack.scan()
hTrack.saGoToTarget(tx, ty)
def findByScan():
# Nobu: I've put in the hHeadOnly test since the bird was stopping when
# it lost the ball.
if gHeadOnly:
hTrack.scan()
else:
# If the last seen ball is far away, then continue walking for a while.
# Use obstacle occluded as well?
if Global.weightedVisBallDist > 150:
hTrack.scan(lowCrane=0,
highCrane=0,
minPan=-60,
maxPan=60,
lookDown=False)
Action.walk(Action.MAX_FORWARD,
0,
0,
minorWalkType=Action.SkeFastForwardMWT)
else:
hTrack.scan()
Action.walk(0, 0, 0, minorWalkType=Action.SkeFastForwardMWT)
def findByScan():
if gHeadOnly:
hTrack.scan()
else:
# If the last seen ball is far away, then continue walking for a while.
# Use obstacle occluded as well?
if Global.gpsLocalBall.getDistance() > 150:
hTrack.scan()
#hTrack.scan(minPan=-60,maxPan=60,lookDown=False)
Action.walk(Action.MAX_FORWARD,0,0,minorWalkType=Action.SkeFastForwardMWT)
else:
hTrack.scan()
Action.walk(0,0,0,minorWalkType=Action.SkeFastForwardMWT)