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 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 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 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 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 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 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)