def tick(self, forward, left, heading, _):
forward, left, heading, needsClamping = limitWalk(
forward, left, heading)
self.world.b_request.needsClamping = needsClamping
self.world.b_request.actions.body = actioncommand.walk(
forward, left, heading)
def applyWalk(forward, left, turn, urgency):
# print("forward: %.0f left: %.0f turn: %.2f" %(forward, left, turn))
if urgency == 100: # this is for circle strafe to not get affected by hardcoded urgency
urgency = 1
else:
urgency = min(
0.5, urgency
) # use 0 speed in lab environment, comment out for competition
return actioncommand.walk(forward, left, turn, speed=urgency)
def tick(self):
self.world.b_request.actions.body = actioncommand.walk(turn = 1)
def tick(self):
self.world.b_request.actions.body = actioncommand.walk(forward = 200)
def walk(self):
request = self.world.b_request
request.actions.body = actioncommand.walk(turn=Global.ballHeading())
LedOverride.override(LedOverride.leftEye, Constants.LEDColour.red)
self.isActive = False
def tick(self):
request = self.world.b_request
request.actions.body = actioncommand.walk(0, 0, 100)
def tick(self):
request = self.world.b_request
request.actions.body = actioncommand.walk(-500, 500, HALF_TURN)
def tick(self, forward, left, _, facingTurn):
forward, left, facingTurn, _ = limitWalk(forward, left, facingTurn)
self.world.b_request.actions.body = actioncommand.walk(
forward, left, facingTurn)
def walk(self):
self.world.b_request.actions.body = actioncommand.walk(
turn=Global.ballHeading())
self.isActive = False
def tick(self, forward, left, _, facingTurn):
forward, left, facingTurn, _ = limitWalk(forward, left, facingTurn)
self.world.b_request.actions.body = actioncommand.walk(forward, left, facingTurn)
def tick(self, forward, left, heading, _):
forward, left, heading, needsClamping = limitWalk(0, 0, heading)
self.world.b_request.needsClamping = needsClamping
self.world.b_request.actions.body = actioncommand.walk(0, 0, heading)
def walk(self):
self.world.b_request.actions.body = actioncommand.walk(turn=Global.ballHeading())
self.isActive = False
def tick(self):
self.world.b_request.actions.body = actioncommand.walk(0, -500, 0)
def tick(self):
self.world.b_request.actions.body = actioncommand.walk(
500, 0, HALF_TURN)
