def ReturnField():
global phase
if mot.isWalking():
# ..search for a ball
if vis.scanCircle(visThread, 0.2):
phase = 'BallFound'
else:
phase = 'BallNotFound'
def Set():
global control
global teamColor
global kickOff
global phase
global firstCall
control = [0,0,0]
# if the first iteration
if firstCall['Set']:
# update info about team, it is possible that game is started in set phase
(teamColor, kickOff, penalty) = sc.getMatchInfo()
print 'In set state'
visThread.startScan() # start ballscan
print 'TeamColor: ' , teamColor # print teamcolor as a check
# Initial pose, if not already in it
mot.stiff()
if playerType == 0:
mot.normalPose()
else:
mot.keepNormalPose()
audProxy.setOutputVolume(0) # set volume to zero
ledProxy.fadeRGB('ChestLeds', 0x00ffff00, 0) # set chestledcolor to green
# Team color must be displayed on left foot (Reference to rules)
if (teamColor == 0):
ledProxy.fadeRGB('LeftFootLeds', 0x000000ff, 0)
else:
ledProxy.fadeRGB('LeftFootLeds', 0x00ff0000, 0)
firstCall['Initial'] = True
firstCall['Ready'] = True
firstCall['Set'] = False
firstCall['Playing'] = True
firstCall['Penalized'] = True
# Head movements allowed in the set state
# FIND A BALL #
if phase != 'BallFound' and phase != 'BallFoundKeep':
if vis.scanCircle(visThread, 0.2):
if playerType == 0:
phase = 'BallFound'
else:
phase = 'BallFoundKeep'
# Keep finding the ball, it might move (or does it?)
if not(visThread.findBall()):
if playerType == 0:
phase = 'BallNotFound'
else:
phase = 'BallNotFoundKeep'
def BallNotFoundKeep():
global phase
global ball_loc
# if a ball is found
if vis.scanCircle(visThread, 0.2):
# reinitialize
ball_loc = dict()
phase = 'BallFoundKeep'
firstCall['BallNotFoundKeep'] = True
elif firstCall['BallNotFoundKeep']:
memProxy.insertData('dntBallDist', 0)
mot.keepNormalPose()
firstCall['BallNotFoundKeep'] = False
def BallNotFound():
global ball_loc
global phase
global control
# if this is the first time the ball is not founnd
if firstCall['BallNotFound']:
memProxy.insertData('dntPhase', 'BallNotFound')
memProxy.insertData('dntBallDist', 0)
ledProxy.fadeRGB('RightFaceLeds',0x00ff0000, 0) # no ball, led turns red
mot.killWalk()
firstCall['BallNotFound'] = False
control = [0,0,0]
# try to find a ball
if vis.scanCircle(visThread, 0.2):
phase = 'BallFound'
firstCall['BallNotFound'] = True
else:
# if no ball is found circle slowly while searching for it
mot.postWalkTo(0, 0, 1.3)
