def positionForGoalieKick(player):
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
if clearBall.ballSide == RIGHT:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
ball = player.brain.ball
positionForGoalieKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
print("Kickpose:", positionForGoalieKick.kickPose.relX, positionForGoalieKick.kickPose.relY)
positionForGoalieKick.speed = nav.GRADUAL_SPEED
player.brain.nav.goTo(positionForGoalieKick.kickPose,
speed = positionForGoalieKick.speed,
precision = nav.CLOSE_ENOUGH)
ball = player.brain.ball
positionForGoalieKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
player.brain.nav.updateDest(positionForGoalieKick.kickPose)
if GoalieTransitions.ballReadyToKick(player, positionForGoalieKick.kickPose):
player.brain.nav.stand()
print("Kickpose:", positionForGoalieKick.kickPose.relX, positionForGoalieKick.kickPose.relY)
return player.goNow('kickBall')
return Transition.getNextState(player, positionForGoalieKick)
def positionForGoalieKick(player):
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
if clearBall.ballSide == RIGHT:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
ball = player.brain.ball
positionForGoalieKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
positionForGoalieKick.speed = nav.GRADUAL_SPEED
player.brain.nav.goTo(positionForGoalieKick.kickPose,
speed = positionForGoalieKick.speed,
precision = nav.CLOSE_ENOUGH)
ball = player.brain.ball
positionForGoalieKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
player.brain.nav.updateDest(positionForGoalieKick.kickPose)
if GoalieTransitions.ballReadyToKick(player, positionForGoalieKick.kickPose):
player.brain.nav.stand()
return player.goNow('kickBall')
return Transition.getNextState(player, positionForGoalieKick)
