def collectBall():
"""Move towards then grab the ball"""
me.goal=Goals.collectBall
# if we've caught up to the ball, stop and grab
if nearEnough(me.bearing(ball), me.currentRotation, near_enough_angle=30) and ball.distance(me)< BALL_OWNERSHIP_DISTANCE:
controller.stop_robot()
controller.grab(True)
# otherwise, go to the ball
else:
me.goal = Goals.collectBall
angle_to_face = me.bearing(ball)
angle_to_move = angle_to_face
distance_to_move = me.distance(ball)
if lineOfSight(me.currentPoint,ball.currentPoint):
print "Real"
controller.move(angle_to_face,angle_to_move,distance_to_move,True)
else:
ghost_walk(angle_to_face)
def collectBall():
"""Move towards then grab the ball"""
me.goal = Goals.collectBall
# if we've caught up to the ball, stop and grab
if nearEnough(me.bearing(ball), me.currentRotation, near_enough_angle=30
) and ball.distance(me) < BALL_OWNERSHIP_DISTANCE:
controller.stop_robot()
controller.grab(True)
# otherwise, go to the ball
else:
me.goal = Goals.collectBall
angle_to_face = me.bearing(ball)
angle_to_move = angle_to_face
distance_to_move = me.distance(ball)
if lineOfSight(me.currentPoint, ball.currentPoint):
print "Real"
controller.move(angle_to_face, angle_to_move, distance_to_move,
True)
else:
ghost_walk(angle_to_face)
def updatePositions():
"""Updates the system's belief of the state of the game based on the vision system"""
# get the info on the robots from the vision system
if api.getMyPosition() is not None:
mePosition = api.getMyPosition()
me.update(Point(mePosition[0]*X_RATIO,mePosition[1]*Y_RATIO))
else:
print "Can't find my position this tick :("
if api.getMyOrientation() is not None:
meOrientation = api.getMyOrientation()[1]
me.updateRotation(meOrientation)
else:
print "Can't find my orientation this tick :("
if api.getAllyPosition() is not None:
allyPosition = api.getAllyPosition()
ally.update(Point(allyPosition[0]*X_RATIO,allyPosition[1]*Y_RATIO))
else:
print "Can't find my friend's position this tick :("
if api.getAllyOrientation() is not None:
allyOrientation = api.getAllyOrientation()[1]
ally.updateRotation(allyOrientation)
else:
print "Can't find my friend's orientation this tick :("
if api.getEnemyPositions()[0] is not None:
enemy0Position = api.getEnemyPositions()[0]
enemies[0].update(Point(enemy0Position[0]*X_RATIO,enemy0Position[1]*Y_RATIO))
else:
print "Can't find enemy 0 this tick :("
if api.getEnemyOrientation()[0] is not None:
enemy0Orientation = api.getEnemyOrientation()[0][1]
enemies[0].updateRotation(enemy0Orientation)
else:
print "Can't find enemy 0's orientation this tick :("
if api.getEnemyPositions()[1] is not None:
enemy1Position = api.getEnemyPositions()[1]
enemies[1].update(Point(enemy1Position[0]*X_RATIO,enemy1Position[1]*Y_RATIO))
else:
print "Can't find enemy 1 this tick :("
if api.getEnemyOrientation()[1] is not None:
enemy1Orientation = api.getEnemyOrientation()[1][1]
enemies[1].updateRotation(enemy1Orientation)
else:
print "Can't find enemy 1's orientation this tick :("
if api.getBallCenter() is not None:
ballPosition = api.getBallCenter()
ball.update(Point(ballPosition[0]*X_RATIO,ballPosition[1]*Y_RATIO))
else:
print "Shit! Where's the ball gone"
try:#see who has ball posesion - needs work
if nearEnough(enemies[0].bearing(ball),enemies[0].currentRotation, near_enough_angle=45) and ball.distance(enemies[0]) < BALL_OWNERSHIP_DISTANCE:
ball.status = BallStatus.enemyA
elif nearEnough(enemies[1].bearing(ball),enemies[1].currentRotation, near_enough_angle=45) and ball.distance(enemies[1]) < BALL_OWNERSHIP_DISTANCE:
ball.status = BallStatus.enemyB
elif nearEnough(ally.bearing(ball),ally.currentRotation, near_enough_angle=45) and ball.distance(ally)< BALL_OWNERSHIP_DISTANCE:
ball.status = BallStatus.ally
elif nearEnough(me.bearing(ball), me.currentRotation, near_enough_angle=45) and ball.distance(me)< BALL_OWNERSHIP_DISTANCE and me.grabbed:
ball.status = BallStatus.me
# if we can't see it, assume it's the same
elif api.world['ball_center']==None:
pass
# if it's far enough from everything, it's free
else:
ball.status = BallStatus.free
except (TypeError, AttributeError):
print("Location of some objects unknown")
