def walk(forward=0, left=0, turn=0, power=0.0, bend=1, speed=1.0, foot=robot.Foot.LEFT, isFast=False): return robot.BodyCommand(robot.ActionType.WALK, int(forward), int(left), float(turn), float(power), float(bend), float(speed), float(speed), foot, bool(isFast), False)
def dribble(foot=robot.Foot.LEFT, turn=0, forward=150): return robot.BodyCommand( robot.ActionType.DRIBBLE, # actionType forward, # forward 0, # left float(turn), # turn 1, # power 0.0, # bend math.radians(20.0), # speed 0.0, # kickDirection foot, # foot False, # isFast False, # misalignedKick False, # shuffle False, # leftArmLimp False # rightArmLimp )
def kick(power=1.0, kickDirection=0.0, foot=robot.Foot.LEFT, turn=0, misalign=False, turnThreshold=math.radians(20)): return robot.BodyCommand( robot.ActionType.KICK, # actionType 0, # forward 0, # left float(turn), # turn power, # power 0.0, # bend turnThreshold, # speed kickDirection, # kickDirection foot, # foot False, # isFast misalign, # misalignedKick False, # shuffle False, # leftArmLimp False # rightArmLimp )
def goalieStand(): return robot.BodyCommand(robot.ActionType.GOALIE_STAND, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def goalieDiveLeft(): return robot.BodyCommand(robot.ActionType.GOALIE_DIVE_LEFT, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def goalieUncentre(): return robot.BodyCommand(robot.ActionType.GOALIE_UNCENTRE, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def dribble(foot=robot.Foot.LEFT, turn=0): return robot.BodyCommand(robot.ActionType.DRIBBLE, 0, 0, float(turn), 1, 0.0, math.radians(20.0), 0.0, foot, False, False)
def standStraight(): return robot.BodyCommand(robot.ActionType.STAND_STRAIGHT, 0, 0, 0, 0.0, 0, 0, 0.0, robot.Foot.LEFT, False, False)
def motionCalibrate(): return robot.BodyCommand(robot.ActionType.MOTION_CALIBRATE, 0, 0, 0, 0.0, 0, 0, 0.0, robot.Foot.LEFT, False, False)
def goaliePickup(): return robot.BodyCommand(robot.ActionType.GOALIE_PICK_UP, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def defenderCentre(): return robot.BodyCommand(robot.ActionType.DEFENDER_CENTRE, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, robot.Foot.LEFT, False, False)
def _type_only_body_command(action_type): return robot.BodyCommand(action_type, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, robot.Foot.LEFT, False, False, False, False, False) # noqa