class GotoBallSkill:
def __init__(self, goalDistance=100):
self.trackBallSkill = TrackBallSkill()
self.scanForBallSkill = ScanForBallSkill()
self.goalDistance = goalDistance
def execute(self, b, h, l):
if Robot.lBallLostCount() > 15 :
self.scanForBallSkill.execute(b, h, l)
return False
else:
self.trackBallSkill.execute(b, h, l)
heading = Robot.vRrBallLocation()['heading']
distance = Robot.vRrBallLocation()['distance']
distance -= self.goalDistance
b.actionType(ActionCommand.Body.FAST)
if degrees(heading) < abs(30):
b.turn(heading/2.0)
b.forward(int(distance/2.5))
b.left(0)
else:
b.forward(0)
b.left(0)
b.turn(heading/2.0)
if distance < 15 and abs(heading) < radians(5):
return True
return False
def __init__(self, goalDistance=100):
self.trackBallSkill = TrackBallSkill()
self.scanForBallSkill = ScanForBallSkill()
self.goalDistance = goalDistance