def move_or_kick(self):
#Gets the angles for to the ball
self.ball_angle=ball_angle()[0]
#If they are close to the middle it will move sideways
if like(self.ball_angle,0):
walk.set_velocity(0, 0.4, 0)
#Else it will stop, look up, start the timer since the last kick
#and kick with the foot that has the ball in front of it.
else:
walk.set_velocity(0, 0, 0)
set_head_position([0,0])
self.time_since_kick = time.time()
if self.ball_angle>0:
kick.forward_left()
else:
kick.forward_right()
def move_or_kick(self):
#Gets the angles for to the ball
self.ball_angle=ball_angle()[0]
#If the ball is to the right of the left foot
if self.ball_angle<0.1:
walk.set_velocity(0, -0.01, 0)
#If the ball is to the left of the left foot
elif self.ball_angle>0.47:
walk.set_velocity(0, 0.01, 0)
#Else it will stop, look up, start the timer since the last kick
#and kick with the foot that has the ball in front of it.
else:
walk.set_velocity(0, 0, 0)
set_head_position([0,0])
self.time_since_kick = time.time()
kick.forward_left()
def update(self):
if has_fallen():
return "fallen"
if not self.start_time:
if like(self.wanted_head_position,robotbody.get_head_position()):
self.ball_angle=ball_angle()[0]
if like(self.ball_angle,0):
walk.set_velocity(0, 0.4, 0)
else:
walk.set_velocity(0, 0, 0)
set_head_position([0,0])
self.start_time = time.time()
if self.ball_angle>0:
kick.forward_left()
else:
kick.forward_right()
if self.start_time and time.time()>self.time+self.start_time:
return "done"
