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 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):
#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):
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):
#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):
if has_fallen():
return "fallen"
if vision.has_new_goal_observation():
if like(goal_angle()[0],0):
print("found goal")
return "done"
self.update_head_position()
if distance_to_ball() > 1:
self.forward_velocity = self.const_forward_velocity;
else:
self.forward_velocity = 0
walk.set_velocity(self.forward_velocity, 0.4*self.direction, ball_angle()[0]*1.2)
if time.time() > self.start_time + self.time:
print("aiming away from our goal")
return "done"
