def execute(param, state, bot_id, pub):
global flag1, flag2
botPos = Vector2D(param.KickToPointP.x, param.KickToPointP.y)
currbotPos = Vector2D(state.homePos[bot_id].x, state.homePos[bot_id].y)
ballPos = Vector2D(state.ballPos.x, state.ballPos.y)
#point = Vector2D()
distance = ballPos.dist(botPos)
dis_bn_ball_bot = ballPos.dist(currbotPos)
req_dis = BOT_BALL_THRESH - 10
angle = botPos.angle(ballPos)
ang = ballPos.angle(currbotPos)
par = skills_union.SParam()
par.GoToPointP.x = ballPos.x + req_dis * math.cos(angle)
par.GoToPointP.y = ballPos.y + req_dis * math.sin(angle)
par.GoToPointP.finalSlope = ballPos.angle(botPos)
par.GoToPointP.align = True
par.GoToPointP.finalVelocity = 0
# par.GoToBallP.intercept = False
sGoToPoint.execute(par, state, bot_id, pub)
par1 = skills_union.SParam()
par1.KickToPointP.x = botPos.x
par1.KickToPointP.y = botPos.y
par1.KickToPointP.power = 7
sKickToPoint.execute(par1, state, bot_id, pub)
return
def __init__(self, bot_id, state, params=None):
super(TGoalie, self).__init__(bot_id, state, params)
self.bot_id = bot_id
self.ballAim = Vector2D()
self.goalieTarget = Vector2D(0, 0)
self.sParams = skills_union.SParam()
self.UPPER_HALF = Vector2D(-HALF_FIELD_MAXX, OUR_GOAL_MAXY)
self.LOWER_HALF = Vector2D(-HALF_FIELD_MAXX, OUR_GOAL_MINY)
self.GOAL_UPPER = Vector2D(HALF_FIELD_MAXX, OUR_GOAL_MAXY * 3)
self.GOAL_LOWER = Vector2D(HALF_FIELD_MAXX, OUR_GOAL_MINY * 3)
self.sParams = skills_union.SParam()
def execute(param, state, bot_id, pub):
botPos = Vector2D(int(state.homePos[bot_id].x),
int(state.homePos[bot_id].y))
ballPos = Vector2D(int(state.ballPos.x), int(state.ballPos.y))
destPoint = Vector2D(int(param.KickToPointP.x), int(param.KickToPointP.y))
ob = Vector2D()
finalSlope = destPoint.angle(botPos)
turnAngleLeft = ob.normalizeAngle(
finalSlope - state.homePos[bot_id].theta) #Angle left to turn
dist = ballPos.dist(botPos)
if dist > BOT_BALL_THRESH:
sGoToBall.execute(param, state, bot_id, pub)
return
if math.fabs(turnAngleLeft
) > SATISFIABLE_THETA / 2: # SATISFIABLE_THETA in config file
sParam = skills_union.SParam()
sParam.TurnToPointP.x = destPoint.x
sParam.TurnToPointP.y = destPoint.y
sParam.TurnToPointP.max_omega = MAX_BOT_OMEGA * 3
sTurnToPoint.execute(sParam, state, bot_id, pub)
return
skill_node.send_command(pub, state.isteamyellow, bot_id, 0, 0, 0,
param.KickToPointP.power, False)
def execute(param, state, bot_id, pub):
# print "in kicktopoint"
botPos = Vector2D(int(state.homePos[bot_id].x),
int(state.homePos[bot_id].y))
ballPos = Vector2D(int(state.ballPos.x), int(state.ballPos.y))
destPoint = Vector2D(int(param.KickToPointP.x), int(param.KickToPointP.y))
ob = Vector2D()
finalSlope = destPoint.angle(botPos)
turnAngleLeft = ob.normalizeAngle(
finalSlope - state.homePos[bot_id].theta) #Angle left to turn
ballBotAngle = ob.normalizeAngle(
ballPos.angle(botPos) - state.homePos[bot_id].theta)
dist = ballPos.dist(botPos)
if dist > BOT_BALL_THRESH + 10:
print("before kick (GoToBall) dist remaining : ",
dist - BOT_BALL_THRESH, " : ", BOT_BALL_THRESH)
param.GoToPointP.x = state.ballPos.x
param.GoToPointP.y = state.ballPos.y
param.GoToPointP.finalSlope = ballPos.angle(state.homePos[bot_id])
sGoToPoint.execute(param, state, bot_id, pub)
return
# print("After gotoball")
if ballBotAngle > SATISFIABLE_THETA / 2:
sParam = skills_union.SParam()
sParam.TurnToPointP.x = ballPos.x
sParam.TurnToPointP.y = ballPos.y
sParam.TurnToPointP.max_omega = MAX_BOT_OMEGA
print("before kick (TurnToBall) angle remaining : ", ballBotAngle)
sTurnToPoint.execute(sParam, state, bot_id, pub)
return
if math.fabs(turnAngleLeft
) > SATISFIABLE_THETA / 2: # SATISFIABLE_THETA in config file
sParam = skills_union.SParam()
sParam.TurnToPointP.x = destPoint.x
sParam.TurnToPointP.y = destPoint.y
sParam.TurnToPointP.max_omega = MAX_BOT_OMEGA
print("before kick (Turn) angle remaining : ", turnAngleLeft)
sTurnToPoint.execute(sParam, state, bot_id, pub)
return
# print("after turn")
print("____KICK____ DIST :", dist, " ANGLE : ", turnAngleLeft)
skill_node.send_command(pub, state.isteamyellow, bot_id, 0, 0, 0,
param.KickToPointP.power, False)
def __init__(self, bot_id, state, params=None):
super(TPressureCooker, self).__init__(bot_id, state, params)
self.bot_id = bot_id
self.ballPos = Vector2D(int(state.ballPos.x), int(state.ballPos.y))
self.botPos = Vector2D(int(state.homePos[self.bot_id].x),
int(state.homePos[self.bot_id].y))
self.sParams = skills_union.SParam()
def __init__(self, bot_id, state, param=None):
super(TMark, self).__init__(bot_id, state, param)
self.sParam = skills_union.SParam()