def ghost_walk(angle_to_face):
ghost_flag = False
for i in range(0, 10):
ghost_pt_x = random.random() * 30 * random.choice([1, -1])
ghost_pt_y = random.random() * 30 * random.choice([1, -1])
target = me.currentPoint.x + ghost_pt_y, me.currentPoint.y + ghost_pt_y
if target[0] > 0 and target[0] < PITCH_LENGTH and target[
1] > 0 and target[1] < PITCH_WIDTH and not isEnemyBox(
Point(target[0], target[1])) and lineOfSight(
me.currentPoint, Point(target[0], target[1])):
ghost_flag = True
break
if ghost_flag:
angle_to_move = me.bearing(Point(target[0], target[1]))
print "Ghost"
controller.move(angle_to_face, angle_to_move, 60, None, None)
else:
print "None"
controller.stop_robot()
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 ghost_walk(angle_to_face):
ghost_flag = False
for i in range(0, 10):
ghost_pt_x = random.random() * 30 * random.choice([1, -1])
ghost_pt_y = random.random() * 30 * random.choice([1, -1])
target = me.currentPoint.x + ghost_pt_y, me.currentPoint.y + ghost_pt_y
if target[0] > 0 and target[0] < PITCH_LENGTH and target[1] > 0 and target[1] < PITCH_WIDTH and not isEnemyBox(Point(target[0],target[1])) and lineOfSight(me.currentPoint, Point(target[0],target[1])):
ghost_flag = True
break;
if ghost_flag:
angle_to_move = me.bearing(Point(target[0],target[1]))
print "Ghost"
controller.move(angle_to_face, angle_to_move, 60, None, None)
else:
print "None"
controller.stop_robot()