def update_head_position(self):
angles=ball_angle()
self.wanted_head_position[0]=angles[0]
self.wanted_head_position[1]=angles[1]
set_head_position(self.wanted_head_position)
def entry(self):
#Reset the variables from the last use of the state
self.time_since_kick=False
#Sets the head to the wanted position and stores the value
self.wanted_head_position=[0,pi/8]
set_head_position(self.wanted_head_position)
print ("kicking the ball")
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_head_position(self):
if self.up_and_down=="down":
if self.current_time>=self.timer+self.max_angle_timer:
self.timer=self.current_time+self.max_angle_timer
self.up_and_down="up"
else:
set_head_position([0,self.head_turning_speed*(self.current_time-self.timer)])
else:
if self.current_time>=self.timer-self.min_angle_timer:
self.timer=self.current_time-self.min_angle_timer
self.up_and_down="down"
else:
set_head_position([0,self.head_turning_speed*(self.timer-self.current_time)])
def entry(self):
#Starts the timer from when the ball was last seen
self.lost_ball_timer=time.time()+5
#Sets the wanted head position, either to the current or
#to one looking down at the ball
if self.look_down:
self.wanted_head_position=[0,pi/8]
else:
self.wanted_head_position=robotbody.get_head_position()
#Makes sure that the head hardness is correct and updates the head position
robotbody.set_head_hardness(0.95)
set_head_position(self.wanted_head_position)
print("following the ball")
def update_head_position(self):
self.current_time=time.time()
if self.left_or_right=="left":
if self.current_time>=self.timer+self.max_time_difference:
self.timer=self.current_time+self.max_time_difference
self.wanted_head_position[1]=self.highest_head_position
self.left_or_right="right"
else:
self.wanted_head_position[0]=self.current_time-self.timer
else:
if self.current_time>=self.timer+self.max_time_difference:
self.timer=self.current_time+self.max_time_difference
self.wanted_head_position[1]=self.lowest_head_position
self.left_or_right="left"
else:
self.wanted_head_position[0]=-(self.current_time-self.timer)
set_head_position(self.wanted_head_position)
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 entry(self):
#Reseting the forward velocity from the last time the state was used
self.forward_velocity=0
#Updating the head position so that DARwIn will look down at the ball
self.wanted_head_position=[0,pi/8]
set_head_position(self.wanted_head_position)
#Starting the sideways walk
walk.set_velocity(self.forward_velocity, self.circling_velocity, ball_angle()[0])
#Starting the turning timer
self.start_time = time.time()
self.time = 10
#starting the lost ball timer
self.lost_ball_timer=time.time()+4
print ("Turning away from our goal")
