def nextCommand(self):
'''
if self.robot.catcher != "prepared":
self.robot.catcher = "prepared"
return CommandDict.prepare()
'''
# If we need to move to the ball, then get the command and return it
# command = self.go_to(self.world.ball.x, self.world.ball.y, speed=75)
command = self.go_to_asym(self.world.ball.x, self.world.ball.y, forward=True, max_speed = 70, min_speed=50)
distance = self.robot.get_euclidean_distance_to_point(self.world.ball.x, self.world.ball.y)
# this is a useful function that tells you how rotation aligns with wanted rotation
dot = self.robot.get_dot_to_target(self.world.ball.x, self.world.ball.y)
# if very close to ball
if distance < DISTANCE_ERROR and dot > 0.96:
self.finished = True
self.robot.catcher = "closed"
self.robot.set_busy_for(1.1)
return CommandDict.catch()
return command
def catch(self):
self.finished = True
self.robot.catcher = "closed"
#self.robot.set_busy_for(1.1)
return CommandDict.catch()
