def update_speed(self):
if self.distance_to_ball> pi*3:
self.current_forward_speed = self.forward_speed
elif self.distance_to_ball< pi and self.distance_to_ball>0:
self.current_forward_speed = self.backward_speed
else:
self.current_forward_speed = 0
#Updates the circling direction if it finds that it's looking to the right of the right post
#or if it looks to the left of the left post
if self.has_new_goal_observation:
if self.goal_type==1 and self.goal_angle<0 and\
self.current_circling_speed==-self.circling_speed:
self.current_circling_speed=self.circling_speed
self.changed_speed=True
self.start_time=self.current_time+2
elif self.goal_type==2 and self.goal_angle>0 and\
self.current_circling_speed==self.circling_speed:
self.current_circling_speed=-self.circling_speed
self.changed_speed=True
self.start_time=self.current_time+2
#Sets the new walk instructions
walk.set_velocity(self.current_forward_speed, self.current_circling_speed, ball_angle()[0])
def update_head_position(self):
angles=ball_angle()
self.wanted_head_position[0]=angles[0]
self.wanted_head_position[1]=angles[1]
set_head_position(self.wanted_head_position)
def update_speed(self):
self.distance_to_ball=distance_to_ball()
if self.distance_to_ball> pi*3:
self.forward_velocity = self.const_forward_velocity;
elif self.distance_to_ball< pi and self.distance_to_ball>0:
self.forward_velocity = -self.const_forward_velocity
else:
self.forward_velocity = 0
walk.set_velocity(self.forward_velocity, self.circling_velocity, ball_angle()[0])
def move_or_kick(self):
#Gets the angles for to the ball
self.ball_angle=ball_angle()[0]
#If the ball is to the right of the left foot
if self.ball_angle<0.1:
walk.set_velocity(0, -0.01, 0)
#If the ball is to the left of the left foot
elif self.ball_angle>0.47:
walk.set_velocity(0, 0.01, 0)
#Else it will stop, look up, start the timer since the last kick
#and kick with the foot that has the ball in front of it.
else:
walk.set_velocity(0, 0, 0)
set_head_position([0,0])
self.time_since_kick = time.time()
kick.forward_left()
def entry(self):
#Reseting the forward velocity from the last time the state was used
self.forward_velocity=0
#Updating the head position so that DARwIn will look down at the ball
self.wanted_head_position=[0,pi/8]
set_head_position(self.wanted_head_position)
#Starting the sideways walk
walk.set_velocity(self.forward_velocity, self.circling_velocity, ball_angle()[0])
#Starting the turning timer
self.start_time = time.time()
self.time = 10
#starting the lost ball timer
self.lost_ball_timer=time.time()+4
print ("Turning away from our goal")
def entry(self):
#Gets the last vision of the ball
self.last_ball_angles=ball_angle()[0]
def update_head_position(self):
angles=ball_angle()
robotbody.set_head_position(angles[0],angles[1])
