def execute(self, b, h, l):
if Robot.lBallLostCount() > 15 :
self.scanForBallSkill.execute(b, h, l)
return False
else:
self.trackBallSkill.execute(b, h, l)
heading = Robot.vRrBallLocation()['heading']
distance = Robot.vRrBallLocation()['distance']
distance -= self.goalDistance
b.actionType(ActionCommand.Body.FAST)
if degrees(heading) < abs(30):
b.turn(heading/2.0)
b.forward(int(distance/2.5))
b.left(0)
else:
b.forward(0)
b.left(0)
b.turn(heading/2.0)
if distance < 15 and abs(heading) < radians(5):
return True
return False
def execute(self, b, h, l):
isSucceed = False
yaw = self.lastYaw
pitch = self.lastPitch
yawSpeed = 0.0
pitchSpeed = 0.0
lostBall = Robot.lBallLostCount()
if lostBall < self.LOST_TIME:
ball = Robot.vRrBallLocation()
ballD = (self.lastDist + ball['distance']) / 2
realPitch = Robot.sensorValues()['joints']['angles'][Joints.HeadPitch]
if realPitch > 0.0 and ballD < 850:
self.usingTopCamera = False
elif realPitch < radians(-10.0):
self.usingTopCamera = True
if self.usingTopCamera:
Robot.setCamera(WhichCamera.TOP_CAMERA)
yaw = self.clipYaw(ball['heading'], self.YAW_FAR_OFFSET)
pitch = radians(72.5) - atan(ballD / 1050)
yawSpeed = 0.1
pitchSpeed = 0.25
else:
Robot.setCamera(WhichCamera.BOTTOM_CAMERA)
yaw = self.clipYaw(ball['heading'], self.YAW_NEAR_OFFSET)
pitch = radians(29.5) - atan(ballD / 1050)
yawSpeed = 0.2
pitchSpeed = 0.25
self.lastDistDiff = ballD - self.lastDist
self.lastDist = ballD
if pitch < radians(-38.5):
pitch = radians(-38.5)
if lostBall > 10:
yaw += (3.5 * self.lastYawDiff)
yawSpeed = 0.5
ballD = self.lastDist + (7.0 * self.lastDistDiff)
if ballD > 1000:
Robot.setCamera(WhichCamera.TOP_CAMERA)
pitch = radians(72.5) - atan(ballD / 1050)
else:
Robot.setCamera(WhichCamera.BOTTOM_CAMERA)
pitch = radians(29.5) - atan(ballD / 1050)
pitchSpeed = 0.5
self.lastPitch = pitch
isSucceed = True
Robot.setCamera(WhichCamera.BOTTOM_CAMERA)
h.yaw(yaw)
h.pitch(pitch)
h.yawSpeed(yawSpeed)
h.pitchSpeed(pitchSpeed)
h.isRelative(False)
return isSucceed
