def entry(self):
#Resets the variables since the last use of the state:
#starting angle
self.start_angle = imu.get_angle()[2]
#Timers
self.start_time=time.time()
self.timer=self.start_time+self.time_between
#Which direction it should start turning its head
self.left_or_right=self.direction
#Makes sure that the head hardness is correct and
#stores the current head position
robotbody.set_head_hardness(0.95)
self.wanted_head_position=robotbody.get_head_position()
#Initiates the turn in the right direction
if self.direction=="left":
walk.turn_left(0.2)
else:
walk.turn_right(0.2)
#Sets a fancy blue eye colour
robotbody.set_eyes_led(0, 0, 31)
print("Tracking ball")
def update(self):
#Tests if the robot has fallen
if has_fallen():
return "fallen"
#Stores the if it has a new goal observation for further tests
self.has_new_goal_observation=vision.has_new_goal_observation()
#Stores the current head position for further tests
self.current_head_position=robotbody.get_head_position()[0]
self.current_time=time.time()
#If the timer has run out or if the robot has failed to find a goal post
#it leaves the state depending with a few commands.
if self.fail_timer<=self.current_time or self.failing:
#If it's not failing it knows that it have found at least one goal post
#Then it will update the fail timer so that it has time enough to move
#its head towards that direction
if not self.failing:
self.failing=True
self.fail_timer=self.current_time+1
#If the timer has run out it's time to leave the state
if self.fail_timer<=self.current_time:
if len(self.angles)==0:
robotbody.set_eyes_led(31, 0, 0)
print("fail")
return "fail"
elif len(self.angles)==1:
robotbody.set_eyes_led(0, 31, 0)
return "focus one"
else:
self.focus_middle()
robotbody.set_eyes_led(0, 31, 0)
print("focus middle")
return "focus middle"
#If the timer hasn't run out it should focus on whatever it has found
else:
self.focus_on_results()
else:
#Tests if it is time to end with only one goal post found
if self.ending and like(self.current_head_position,self.angles[0][0]):
robotbody.set_eyes_led(0, 31, 0)
return "focus one"
#Tests if it has found two goal posts
if len(self.angles)==2 and \
like(self.current_head_position,(self.angles[0][0]+self.angles[1][0])/2):
robotbody.set_eyes_led(0, 31, 0)
print("focus middle")
return "focus middle"
#Updates the head position, variables, depending on how many goal post it has found
if not self.ending and like(self.current_head_position,self.wanted_head_position[0],pi/45):
self.update_values()
def update(self):
if has_fallen():
return "fallen"
if not vision.has_new_ball_observation():
if self.last_observation_of_ball+5<time.time() or self.last_distance>=tan(5*pi/12):
walk.set_velocity(self.speed, 0, 0)
robotbody.set_eyes_led(31, 0, 0)
print("lost ball")
return "no ball"
else:
self.current_head_position = robotbody.get_head_position()
if like(self.current_head_position,self.wanted_head_position):
self.update_head_position()
self.last_observation_of_ball=time.time()
self.last_distance=distance_to_ball()
if self.last_distance>0 and self.last_distance<self.distance:
print ("standing in front of ball")
return "done"
if not like(self.current_head_position[0],0,pi/18):
walk.set_velocity(self.speed, 0.4, self.current_head_position[0])
else:
walk.set_velocity(self.speed, 0, 0)
def update(self):
#Tests if the robot has fallen
if has_fallen():
return "fallen"
#Stores the current time for tests and updates
self.current_time=time.time()
#Tests if the robot has lost the ball
if self.has_lost_ball():
print("lost ball")
return "lost ball"
#Test if the robot is standing in front of the ball
self.distance_to_ball=distance_to_ball()
if self.distance_to_ball>0 and self.distance_to_ball<self.distance:
robotbody.set_eyes_led(0, 31, 0)
print ("standing in front of ball")
return "done"
#Updates the position of the head
self.update_head_position()
#Updates the walking direction
self.update_walk_direction()
def has_lost_ball(self):
if self.current_time>=self.lost_ball_timer:
robotbody.set_eyes_led(31, 0, 0)
return True
if self.has_new_ball_observation:
self.lost_ball_timer=self.current_time+7
return False
def entry (self):
#Reset the variables since the last use of the state and
#sets the eyes to a fancy red colour
robotbody.set_eyes_led(31, 0, 0)
self.sitting=False
self.start_time=None
#Starts the get up motion
motion.get_up()
def entry(self):
#Sets the eyes to a fancy blue
robotbody.set_eyes_led(0, 0, 31)
#Starts walking forward with the given speed
walk.walk_forward(self.speed)
self.lost_ball_timer=time.time()+5
print("See the robot walk")
def has_lost_ball(self):
if self.current_time>=self.lost_ball_timer:
robotbody.set_eyes_led(31, 0, 0)
return True
elif vision.has_new_ball_observation():
self.lost_ball_timer=self.current_time+5
return False
else:
return False
def update(self):
#Tests if the robot has fallen
if has_fallen():
return "fallen"
#Test if the last vision of a goal was the opponents
if self.opponents_goal():
robotbody.set_eyes_led(0, 31, 0)
print("fire at opponents goal")
return "fire"
else:
robotbody.set_eyes_led(0, 0, 31)
print ("turning towards opponents goal")
return "turn"
def entry(self):
#Sets the eyes to a fancy blue
robotbody.set_eyes_led(0, 0, 31)
#Starts walking forward with the given speed
walk.walk_forward(self.speed)
#Sets the head position down to the ground
set_head_position([0,pi/8])
#How long it will wait until it has concluded that it has lost the ball
self.lost_ball_timer=time.time()+2
print("See the robot walk")
def update(self):
self.update_head_position()
if vision.has_new_ball_observation():
walk.turn_left(0)
robotbody.set_eyes_led(0, 31, 0)
print("found ball")
return "done"
if imu.get_angle()[2] > self.start_angle + self.angle:
walk.turn_left(0)
robotbody.set_eyes_led(31,0,0)
print ("can't find the ball")
return "out of sight"
def update(self):
#Tests if it has found a ball observation
if vision.has_new_ball_observation():
walk.turn_left(0)
robotbody.set_eyes_led(0, 31, 0)
print("found ball")
return "done"
#Tests if it's time to stop turning and accept a failure
if imu.get_angle()[2] > self.start_angle + self.angle:
walk.turn_left(0)
robotbody.set_eyes_led(31,0,0)
print ("can't find the ball")
return "out of sight"
#Updates the head position
self.update_head_position()
def update(self):
#Tests if the robot has fallen
if has_fallen():
return "fallen"
#Stores the value if the robot has a new ball observation for further use
self.has_new_ball_observation=vision.has_new_ball_observation()
#Stores the current time for further tests
self.current_time=time.time()
#Tests if the robot has lost the ball
if self.has_lost_ball():
print("lost ball")
return "lost ball"
#Tests if it has finished moving,
#if the robot already has decided that it had to move
if self.timer and self.current_time>self.timer:
robotbody.set_eyes_led(0, 0, 31)
return "check again"
#If the timer has not started yet.
#The robot looks for the first ball observation.
#If it finds one it starts the timer and stores the angles.
if not self.timer:
if self.has_new_ball_observation:
self.start_timer()
else:
#If the difference between the goal angle and the first ball angle is less
#then 20 degrees it will tell that it has lined up
#Otherwise it will start to turn around the ball for some time,
#depending on the difference
if like(self.first_ball_angle,self.goal_angle,pi/9):
robotbody.set_eyes_led(0, 31, 0)
print("lined up")
return "lined up"
self.start_turning()
def update(self):
#Test if the robot has fallen
if has_fallen():
return "fallen"
#Stores the current time for further tests
self.current_time=time.time()
#Stores whether it have found a new ball observation
self.has_new_ball_observation=vision.has_new_ball_observation()
self.has_new_goal_observation=vision.has_new_goal_observation()
#Stores the current distance to the ball for further tests
self.distance_to_ball=distance_to_ball()
#Tests if it has lost the ball
if self.has_lost_ball() or self.to_long_distance():
print ("lost the ball")
return "lost ball"
#Test if it has found a goal post
if self.has_new_goal_observation:
if like(goal_angle()[0],0,self.alowed_angled_diff):
robotbody.set_eyes_led(0, 31, 0)
print("found goal")
return "done"
#Tests if it is time to abandon the search for a goal
if self.current_time > self.start_time + self.time:
robotbody.set_eyes_led(0, 0, 31)
print("lucky shot")
return "fail"
#Updates the head position
self.update_head_position()
#Updates the walking speed for the robot
self.update_speed()
def update(self):
#Tests if it has fallen
if has_fallen():
return "fallen"
#Stores current time
self.current_time=time.time()
#Stores whether it has found a new ball observation
self.has_new_ball_observation=vision.has_new_ball_observation()
#Stores whether it has found a new goal observation
self.has_new_goal_observation=vision.has_new_goal_observation()
#Stores the distance to the ball
self.distance_to_ball=distance_to_ball()
#Stores the new angle and type if it has new observation of the goal
if self.has_new_goal_observation:
self.goal_angle,self.goal_type=goal_angle_and_type()
#Tests if it has lost the ball
if self.has_lost_ball() or self.to_long_distance():
print ("lost the ball")
return "lost ball"
#Tests the adjustment timer
if self.adjustment_timer and self.current_time>=self.adjustment_timer:
robotbody.set_eyes_led(0, 31, 0)
print("probably looking at goal")
return "done"
#Test if it has found a goal post
if (self.has_new_goal_observation and self.looking_at_goal())\
or self.changed_speed and self.current_time>self.start_time:
robotbody.set_eyes_led(0, 31, 0)
print("found goal, " + self.which_goal_type)
return "done"
#Tests if it is time to abandon the search for a goal
if self.current_time > self.start_time + self.max_circling_time:
robotbody.set_eyes_led(0, 0, 31)
print("lucky shot")
return "fail"
#Updates the head position
self.update_head_position()
#Updates the walking speed for the robot
self.update_speed()
def exit (self):
print ("sitting")
motion.start_walk()
robotbody.set_eyes_led(0, 0, 31)
def entry(self):
robotbody.set_eyes_led(self.color[0],self.color[1],self.color[2])
