def update(self):
if has_fallen():
return "fallen"
self.current_head_position=robotbody.get_head_position()
if like(self.wanted_head_position,self.current_head_position):
if self.ending:
return "focus one"
elif len(self.angles)==0:
if vision.has_new_goal_observation():
self.get_goal_observation()
self.searching_for_next()
elif like(self.current_head_position[0],pi/2):
return "fail"
else:
self.set_next_head_position()
elif len(self.angles)==1:
if vision.has_new_goal_observation():
self.get_goal_observation()
self.focus_middle()
else:
self.set_next_head_position()
else:
return "focus middle"
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 update(self):
if has_fallen():
return "fallen"
if self.get_state()==self._done:
return "done"
super(Program,self).update()
def update(self):
if has_fallen():
return("fallen")
self.update_head_position()
if vision.has_new_ball_observation():
return ("done")
def update(self):
if has_fallen():
return "fallen"
if self.timer<time.time():
if vision.has_new_line_observation() and self.get_pitch_angle()<=pi/3:
walk.set_velocity(0, 0, 0)
return "standing on line"
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 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 update(self):
if has_fallen():
return "fallen"
if self.get_state()==self._done:
print ("looking at goal")
return "done"
if self.get_state()==self._lost_ball:
print("lost ball")
return "lost ball"
super(Program,self).update()
def update(self):
#Tests if the robot has fallen
if has_fallen():
return "fallen"
#Tests if the robot hasn't kicked yet.
#If it hasn't it will move sideways or kick the ball
if not self.time_since_kick:
self.move_or_kick()
#Test if the time since the last kick is enough for it to
#have returned to standing position
if self.time_since_kick and time.time()>self.time+self.time_since_kick:
return "done"
def update(self):
if has_fallen():
return("fallen")
self.update_traveled_time()
self.update_head_position()
if vision.has_new_ball_observation():
self.update_last()
self.left_or_right()
elif self.last_observation+self.accepted_out_of_sight_time<time.time():
return ("out of sight")
self.walk_sideways()
def update(self):
if has_fallen():
return "fallen"
if vision.has_new_goal_observation():
if like(goal_angle()[0],0):
return "done"
else:
return "standing in front of the goal"
self.current_head_position=robotbody.get_head_position()
if like(self.current_head_position,pi/2):
return "can't find the goal"
if like(self.wanted_head_position,self.current_head_position):
self.update_head_position()
def update(self):
#Testing if it has fallen
if has_fallen():
return "fallen"
#Storing the current time for the update
self.current_time=time.time()
#Testing if it has lost the ball
if self.has_lost_ball():
print ("lost the ball")
return "lost ball"
#Test if it has finished it's turn
if self.current_time > self.start_time + self.time:
print("aiming away from our goal")
return "done"
#Updating the speed at which the robot moves
self.update_speed()
def update(self):
#Tests if it has fallen
if has_fallen():
return "fallen"
#Stores the current time for further tests
self.current_time=time.time()
#Updates the lost ball timer if it has a new ball observation
if vision.has_new_ball_observation():
self.lost_ball_timer=self.current_time+2
#Test if it has lost the ball
elif self.current_time>self.lost_ball_timer:
return "lost ball"
#Test if it is close enought to the ball
if distance_to_ball()<=self.distance_to_ball:
return "done"
def update(self):
if has_fallen():
return "fallen"
if like(robotbody.get_head_position()[0],0):
return "done"
def update(self):
if has_fallen():
return "fallen"
if time.time() > self.start_time + self.time:
return "timeout"
def update(self):
if has_fallen():
return "fallen"
if imu.get_angle()[2] > self.start_angle + self.angle:
return "done"
