def update(self, fsm, rs):
# update ball predictions
ball_vel = rs.ball_predictor.push_measurement(rs.ball_pos,
rs.simulation_time)
ball_dist = sqrt(
pow(rs.agent_pos[0] - rs.ball_pos[0], 2) +
pow(rs.agent_pos[1] - rs.ball_pos[1], 2))
predict_time = predict_time_func(ball_dist)
predicted_ball = predict_object(rs.ball_pos, ball_vel, predict_time)
# print(f"Ball prediction for {predict_time} ticks: {predicted_ball}")
rs.out = move_to_point(rs, predicted_ball[0], predicted_ball[1], False)
distance = sqrt(
pow(rs.ball_pos[0] - rs.agent_pos[0], 2) +
pow(rs.ball_pos[1] - rs.agent_pos[1], 2))
if abs(rs.ball_pos[0]
) > SIDE_THRESH or rs.ball_pos[1] < BEHIND_THRESH - GOAL_DIST:
fsm.change_state(rs, StateMidIdle())
return
if distance <= CHASE_TO_CIRCLE:
fsm.change_state(rs, StateMidCircle())
return
if rs.ball_pos[1] < BEHIND_THRESH - GOAL_DIST:
fsm.change_state(rs, StateMidHover())
return
def update(self, fsm, rs):
# update ball predictions
ball_vel = rs.ball_predictor.push_measurement(rs.ball_pos,
rs.simulation_time)
ball_dist = sqrt(
pow(rs.agent_pos[0] - rs.ball_pos[0], 2) +
pow(rs.agent_pos[1] - rs.ball_pos[1], 2))
predict_time = predict_time_func(ball_dist)
predicted_ball = predict_object(rs.ball_pos, ball_vel, predict_time)
# print(f"Ball prediction for {predict_time} ticks: {predicted_ball}")
ball_speed = sqrt(pow(ball_vel[0], 2) + pow(ball_vel[1], 2))
rs.out = move_to_point(
rs, HOVER_DIST * (rs.ball_pos[0] / (rs.ball_pos[1] + GOAL_DIST)),
HOVER_DIST - GOAL_DIST, False)
distance = predicted_ball[1] + GOAL_DIST
if abs(rs.ball_pos[0]
) > SIDE_THRESH or rs.ball_pos[1] < BEHIND_THRESH - GOAL_DIST:
fsm.change_state(rs, StateMidIdle())
return
if distance < HOVER_TO_PUSH or distance < BEHIND_THRESH:
if ball_speed < BALL_VEL_THRESH:
fsm.change_state(rs, StateMidChase())
else:
fsm.change_state(rs, StateMidPush())
return
def update(self, fsm, rs):
ball_vel = rs.ball_predictor.push_measurement(rs.ball_pos,
rs.simulation_time)
ball_dist = sqrt(
pow(rs.agent_pos[0] - rs.ball_pos[0], 2) +
pow(rs.agent_pos[1] - rs.ball_pos[1], 2))
predict_time = predict_time_func(ball_dist)
predicted_ball = predict_object(rs.ball_pos, ball_vel, predict_time)
rs.out = move_to_point(rs, rs.ball_pos[0], rs.ball_pos[1], False)
if ball_dist <= CHASE_TO_CIRCLE:
fsm.change_state(rs, StateAttackCircle())
return
def update(self, fsm, rs):
distance = sqrt(
pow(rs.ball_pos[0] - rs.agent_pos[0], 2) +
pow(rs.ball_pos[1] - rs.agent_pos[1], 2))
direction = atan2(rs.ball_pos[1] - rs.agent_pos[1],
rs.ball_pos[0] - rs.agent_pos[0]) - pi / 2
rs.out = move_to_point(rs, rs.ball_pos[0], rs.ball_pos[1], False)
if abs(rs.ball_pos[0]
) > SIDE_THRESH or rs.ball_pos[1] < BEHIND_THRESH - GOAL_DIST:
fsm.change_state(rs, StateMidIdle())
return
if distance >= CIRCLE_TO_CHASE or (abs(direction) > MID_ANGLE_EXIT):
fsm.change_state(rs, StateMidCircle())
return
def update(self, fsm, rs):
ball_vel = rs.ball_predictor.push_measurement(rs.ball_pos,
rs.simulation_time)
ball_dist = sqrt(
pow(rs.agent_pos[0] - rs.ball_pos[0], 2) +
pow(rs.agent_pos[1] - rs.ball_pos[1], 2))
predict_time = predict_time_func(ball_dist)
predicted_ball = predict_object(rs.ball_pos, ball_vel, predict_time)
mag = sqrt(pow(rs.ball_pos[0], 2) + pow(rs.ball_pos[1], 2))
rs.out = move_to_point(rs, 0.2 * (predicted_ball[0] / mag),
0.2 * (predicted_ball[1] / mag), False)
if abs(rs.ball_pos[0]
) < SIDE_THRESH and rs.ball_pos[1] > BEHIND_THRESH - GOAL_DIST:
fsm.change_state(rs, StateMidHover())
return
def update(self, fsm, rs):
# update ball predictions
ball_vel = rs.ball_predictor.push_measurement(rs.ball_pos,
rs.simulation_time)
actual_ball_dist = sqrt(
pow(rs.agent_pos[0] - rs.ball_pos[0], 2) +
pow(rs.agent_pos[1] - rs.ball_pos[1], 2))
predict_time = predict_time_func(actual_ball_dist)
predicted_ball = predict_object(rs.ball_pos, ball_vel, predict_time)
#print(f"Ball prediction for {predict_time} ticks: {predicted_ball}")
rs.out = move_to_point(rs, predicted_ball[0], predicted_ball[1], False)
ball_dist = rs.ball_pos[1] + GOAL_DIST
robot_dist = rs.agent_pos[1] + GOAL_DIST
if ball_dist >= BALL_SAFE_DIST or robot_dist >= SURGE_DIST:
fsm.change_state(rs, StateDefendHover())
return
def update(self, fsm, rs):
ball_vel = rs.ball_predictor.push_measurement(rs.ball_pos,
rs.simulation_time)
ball_dist = sqrt(
pow(rs.agent_pos[0] - rs.ball_pos[0], 2) +
pow(rs.agent_pos[1] - rs.ball_pos[1], 2))
predict_time = predict_time_func(ball_dist)
predicted_ball = predict_object(rs.ball_pos, ball_vel, predict_time)
goal_angle = atan2(GOAL_DIST - rs.agent_pos[1], -rs.agent_pos[0])
direction = atan2(rs.ball_pos[1] - rs.agent_pos[1],
rs.ball_pos[0] - rs.agent_pos[0]) - goal_angle
rs.out = move_to_point(rs, predicted_ball[0], predicted_ball[1], False)
if ball_dist >= CIRCLE_TO_CHASE or (abs(direction) >
FORWARD_ANGLE_EXIT):
fsm.change_state(rs, StateAttackCircle())
return
def update(self, fsm, rs):
# update ball predictions
ball_vel = rs.ball_predictor.push_measurement(rs.ball_pos,
rs.simulation_time)
ball_dist = sqrt(
pow(rs.agent_pos[0] - rs.ball_pos[0], 2) +
pow(rs.agent_pos[1] - rs.ball_pos[1], 2))
predict_time = predict_time_func(ball_dist)
predicted_ball = predict_object(rs.ball_pos, ball_vel, predict_time)
#print(f"Ball prediction for {predict_time} ticks: {predicted_ball}")
# direction = atan2(predicted_ball[1] - rs.agent_pos[1], predicted_ball[0] - rs.agent_pos[0])
rs.out = move_to_point(
rs, IDLE_DIST * (rs.ball_pos[0] / (rs.ball_pos[1] + GOAL_DIST)),
IDLE_DIST - GOAL_DIST, False)
distance = predicted_ball[1] + GOAL_DIST
if distance < SURGE_THRESH:
fsm.change_state(rs, StateDefendSurge())
return
def update(self, fsm, rs):
rs.out = move_to_point(rs, rs.ball_pos[0], rs.ball_pos[1], False)
if rs.simulation_time > 3008:
fsm.change_state(rs, StateAttackChase())
return