def searchFieldByQuad(player):
"""
Search the field quadrant by quadrant. Choose first quadrant by loc heading.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.tracker.repeatBasicPan()
searchFieldByQuad.dest = min(
points, key=lambda x: fabs(player.brain.loc.distTo(x)))
player.brain.nav.goTo(searchFieldByQuad.dest,
precision=nav.GRAINY,
speed=nav.QUICK_SPEED,
avoidObstacles=True,
fast=True,
pb=False)
searchFieldByQuad.quadIndex = points.index(searchFieldByQuad.dest)
searchFieldByQuad.quadsWalked = 0
if shared.navAtPosition(player) and player.brain.loc.distTo(
searchFieldByQuad.dest) < 60:
searchFieldByQuad.quadIndex += 1
searchFieldByQuad.quadsWalked += 1
searchFieldByQuad.dest = points[searchFieldByQuad.quadIndex %
len(points)]
if searchFieldByQuad.quadsWalked > 3:
return player.goLater('playOffBall')
player.brain.nav.updateDest(searchFieldByQuad.dest)
def playerFiveSearchBehavior(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if playerFiveSearchBehavior.pointIndex == -1:
playerFiveSearchBehavior.dest = min(playerFivePoints, key = lambda x:fabs(player.brain.loc.distTo(x)))
playerFiveSearchBehavior.pointIndex = playerFivePoints.index(playerFiveSearchBehavior.dest)
playerFiveSearchBehavior.pointsWalked = 0
else:
playerFiveSearchBehavior.pointIndex += 1
playerFiveSearchBehavior.pointsWalked += 1
playerFiveSearchBehavior.dest = playerFivePoints[playerFiveSearchBehavior.pointIndex % len(playerFivePoints)]
player.brain.nav.goTo(playerFiveSearchBehavior.dest, precision = nav.HOME,
speed = speeds.SPEED_SEVEN, avoidObstacles = True,
fast = True, pb = False)
if shared.navAtPosition(player) and player.brain.loc.distTo(playerFiveSearchBehavior.dest) < 60:
if playerFiveSearchBehavior.pointIndex % len(playerFivePoints) == 0:
adjustHeading.desiredHeading = role.strikerRightHome.h
return player.goNow("adjustHeading")
elif playerFiveSearchBehavior.pointIndex % len(playerFivePoints) == 2:
adjustHeading.desiredHeading = role.strikerLeftHome.h
return player.goNow("adjustHeading")
else:
return player.goNow("spinAtWayPoint")
player.brain.nav.updateDest(playerFiveSearchBehavior.dest)
def chaseAfterBall(player):
if player.firstFrame():
player.brain.tracker.repeatHeadMove(HeadMoves.FAST_TWO_INTERVAL)
dest = RelRobotLocation(150, 0, 0)
# player.brain.nav.goTo(dest, precision = nav.PLAYBOOK,
# speed = speeds.SPEED_SEVEN, avoidObstacles = True,
# fast = True, pb = False) // Maybe try something like this
player.brain.nav.destinationWalkTo(RelRobotLocation(player.brain.ball.x, player.brain.ball.y, 0))
# print(" CHASEAFTERBALL I'm dest walking to:", player.brain.ball.x, player.brain.ball.y)
return player.stay()
if transitions.shouldChaseBall(player):
print "I can see the ball!"
afterKick.numTimes = 0
return player.goNow('approachBall')
if shared.walkingOffField(player):
print "I'm walking off the field!"
afterKick.numTimes = 0
return player.goNow('spinSearch')
if shared.navAtPosition(player) or player.counter > 100:
return player.goNow('lookAroundForBall')
return player.stay()
def searchFieldByQuad(player):
"""
Search the field quadrant by quadrant. Choose first quadrant by loc heading.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
searchFieldByQuad.dest = min(points, key=lambda x:fabs(player.brain.loc.getRelativeBearing(x)))
player.brain.nav.goTo(searchFieldByQuad.dest, precision = nav.GRAINY,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = True, pb = False)
if shared.navAtPosition(player):
if searchFieldByQuad.dest == quad1Center:
searchFieldByQuad.dest = quad2Center
elif searchFieldByQuad.dest == quad3Center:
searchFieldByQuad.dest = quad1Center
elif searchFieldByQuad.dest == quad2Center:
searchFieldByQuad.dest = quad4Center
elif searchFieldByQuad.dest == quad4Center:
searchFieldByQuad.dest = quad3Center
player.brain.nav.updateDest(searchFieldByQuad.dest)
def searchFieldByQuad(player):
"""
Search the field quadrant by quadrant. Choose first quadrant by loc heading.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.tracker.repeatBasicPan()
searchFieldByQuad.dest = min(points, key=lambda x:fabs(player.brain.loc.distTo(x)))
player.brain.nav.goTo(searchFieldByQuad.dest, precision = nav.GRAINY,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = True, pb = False)
searchFieldByQuad.quadIndex = points.index(searchFieldByQuad.dest)
searchFieldByQuad.quadsWalked = 0
if shared.navAtPosition(player) and player.brain.loc.distTo(searchFieldByQuad.dest) < 60:
searchFieldByQuad.quadIndex += 1
searchFieldByQuad.quadsWalked += 1
searchFieldByQuad.dest = points[searchFieldByQuad.quadIndex % len(points)]
if searchFieldByQuad.quadsWalked > 3:
return player.goLater('playOffBall')
player.brain.nav.updateDest(searchFieldByQuad.dest)
def shouldNotBeSupporter(player):
if role.isChaser(player.role):
return shared.ballOffForNFrames(120)(player)
return not shouldBeSupporter(player)
def shouldNotBeSupporter(player):
if role.isChaser(player.role):
return shared.ballOffForNFrames(120)
return not shouldBeSupporter(player)
player.brain.nav.updateDest(home)
@superState('playOffBall')
@stay
@ifSwitchNow(transitions.tooFarFromHome(20), 'positionAtHome')
def watchForBall(player):
"""
The player is at home, waiting for the ball to be within it's box (range)
"""
if player.firstFrame():
player.brain.nav.stand()
@superState('playOffBall')
@stay
@ifSwitchLater(shared.ballOffForNFrames(120), 'playOffBall')
def positionAsSupporter(player):
if (role.isChaser(player.role) and role.isChaser(player.roleOfClaimer) and
player.brain.ball.distance > hypot(CHASER_DISTANCE, CHASER_DISTANCE)):
fast = True
else:
fast = False
positionAsSupporter.position = getSupporterPosition(player, player.role)
# TODO don't call goTo every frame
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = False, pb = False)
@superState('playOffBall')
player.brain.nav.updateDest(home)
@superState('playOffBall')
@stay
@ifSwitchNow(transitions.tooFarFromHome(20), 'positionAtHome')
def watchForBall(player):
"""
The player is at home, waiting for the ball to be within it's box (range)
"""
if player.firstFrame():
player.brain.nav.stand()
@superState('playOffBall')
@stay
@ifSwitchLater(shared.ballOffForNFrames(120), 'playOffBall')
def positionAsSupporter(player):
if (role.isChaser(player.role) and role.isChaser(player.roleOfClaimer) and
player.brain.ball.distance > hypot(CHASER_DISTANCE, CHASER_DISTANCE)):
fast = True
else:
fast = False
positionAsSupporter.position = getSupporterPosition(player, player.role)
if player.firstFrame():
player.brain.nav.goTo(positionAsSupporter.position, precision = nav.GENERAL_AREA,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = False, pb = False)
player.brain.nav.updateDest(positionAsSupporter.position, fast=fast)
