def DecideNextAction():
global frameSinceLastGrabKick
if sGrab.isGrabbed:
if perform() != Constant.STATE_EXECUTING:
sGrab.resetPerform()
frameSinceLastGrabKick = Global.frame
resetPerform()
elif Global.frame - frameSinceLastGrabKick > 60:
sGrab.perform()
else:
sFindBall.perform()
def DecideNextAction():
global gCounter
import Indicator
Indicator.setDefault()
if sGrab.isGrabbed:
if perform(90, True) == Constant.STATE_SUCCESS:
gCounter = 0
elif gCounter < 50:
gCounter += 1
sFindBall.perform()
else:
sGrab.perform()
def DecideNextAction():
global grabCounter
grabCounter -= 1
#testKick()
#return
Action.openMouth()
sGrab.moveHeadForward()
Action.walk(0, 0, 0)
obsFront = VisionLink.getNoObstacleInBox(-25, 100, 25, 20,
Constant.MIN_VIS_OBSTACLE_BOX,
Constant.OBS_USE_LOCAL)
obsLeft = VisionLink.getNoObstacleInBox(-80, 80, -40, -80,
Constant.MIN_VIS_OBSTACLE_BOX,
Constant.OBS_USE_LOCAL)
obsRight = VisionLink.getNoObstacleInBox(40, 80, 80, -80,
Constant.MIN_VIS_OBSTACLE_BOX,
Constant.OBS_USE_LOCAL)
print "Obstacle Front : ", obsFront, " Left : ", obsLeft, " Right: ", obsRight
return
#print "Camera Frame : ", Global.cameraFrame
Indicator.setDefault()
if not sGrab.isGrabbed or performToTargetGoal(
) != Constant.STATE_EXECUTING:
if grabCounter == 60:
hTrack.panLow = True
resetPerform()
sGrab.resetPerform()
if grabCounter > 0:
sFindBall.perform()
else:
sGrab.perform()
grabCounter -= 1
else:
grabCounter = 60
def kickOffShootGoal():
global playCounter, whenGrabbed
if pReady.isCentre(Global.kickOffPos):
if playCounter > 150:
sGrab.resetPerform()
return False
if whenGrabbed == 0:
#print "grabbing"
sGrab.perform()
if sGrab.isGrabbed:
#print "grabbed"
whenGrabbed = playCounter
return True
if playCounter < whenGrabbed + 40:
#print "walking"
sGrabDribble(0, Action.MAX_LEFT, 0)
return True
# not aiming to visual goal
if sGrabTurnKick.perform(False) == Constant.STATE_SUCCESS:
#print "aiming"
sGrab.resetPerform()
return False
elif pReady.isForward(Global.kickOffPos):
if playCounter > 40:
return False
hTrack.saGoToTarget(Constant.TARGET_GOAL_X, Constant.TARGET_GOAL_Y)
else:
return False
hFWHead.DecideNextAction()
return True
def kickOffUPenn():
global playCounter, whenGrabbed
if pReady.chosenFormation == 0:
kickLeft = False
else:
kickLeft = True
if pReady.isCentre(Global.kickOffPos):
if playCounter > 150:
return False
if whenGrabbed == 0:
print "grabbing"
if sGrab.perform() == Constant.STATE_FAILED:
return False
if sGrab.isGrabbed:
whenGrabbed = playCounter
return True
print "Grabbed!"
if sUpennKick.perform(kickLeft) == Constant.STATE_SUCCESS:
sGrab.resetPerform()
return False
sFindBall.perform(True)
return True
elif pReady.isForward(Global.kickOffPos):
if playCounter > 40:
return False
hTrack.saGoToTarget(Constant.TARGET_GOAL_X, Constant.TARGET_GOAL_Y)
hFWHead.DecideNextAction()
else:
return False
return True
def DecideNextAction():
import hFWHead
if sGrab.perform() == Constant.STATE_SUCCESS:
hFWHead.DecideNextAction()
perform(90)
def doKickWithGrab():
global gSelectedKick
global gIsKickTriggering
if not sGrab.isGrabbed:
r = sGrab.perform()
if r == Constant.STATE_FAILED:
hTrack.panLow = True
return r
elif r == Constant.STATE_EXECUTING:
return r
# Grab success
else:
# override kick selection
selectedKick = sSelKick.perform()
# If the selected kick is different, then do kick reset.
if gSelectedKick != None and selectedKick[0] != gSelectedKick[0]:
doKickReset()
gSelectedKick = selectedKick
# If kick selection returns paw kick, change it to
# grab dribble.
# Because we can't paw kick or dribble from grab.
kickType = gSelectedKick[0]
if kickType == sSelKick.KT_DRIBBLE\
or kickType == sSelKick.KT_PAW_KICK:
gSelectedKick = (sSelKick.KT_GRAB_DRIBBLE, gSelectedKick[1],
gSelectedKick[2])
gIsKickTriggering = True
r = Constant.STATE_EXECUTING
if gIsKickTriggering:
kickType, dkd, direction = gSelectedKick
# Setting isClockwise
isClockwise = None
if direction == Constant.dCLOCKWISE:
isClockwise = True
elif direction == Constant.dANTICLOCKWISE:
isClockwise = False
if kickType == sSelKick.KT_GRAB_TURN_KICK:
r = sGrabTurnKick.perform(False,\
Action.DiveKickWT,\
Constant.TARGET_GOAL_X,\
Constant.FIELD_LENGTH)
elif kickType == sSelKick.KT_GRAB_TURN_SHOOT:
r = sGrabTurnKick.perform()
elif kickType == sSelKick.KT_GRAB_DRIBBLE_GOAL:
r = sGrabDribble.performToTargetGoal()
elif kickType == sSelKick.KT_GRAB_DRIBBLE:
r = sGrabDribble.performToDKD(dkd)
elif kickType == sSelKick.KT_TURN_KICK:
r = sTurnKick.perform(dkd, isClockwise=isClockwise)
elif kickType == sSelKick.KT_UPENN_LEFT:
#print "grab upeen left"
r = sUpennKick.perform(dkd, True)
elif kickType == sSelKick.KT_UPENN_RIGHT:
#print "grab upeen right"
r = sUpennKick.perform(dkd, False)
else:
print "rAttacker.py : No appropriate kick for grab chosen???"
r = Constant.STATE_FAILED
return r
def doKickWithGrab():
global gSelectedKick
if not sGrab.isGrabbed:
# If the ball is in the edge, do more get behind.
if hWhere.ballOnEdge():
r = sGrab.perform(sFindBall.GET_BEHIND_PRIORITY)
else:
r = sGrab.perform()
if r == Constant.STATE_FAILED:
hTrack.panLow = True
return r
elif r == Constant.STATE_EXECUTING:
return r
# Grab success
else:
# override kick selection
selectedKick = sSelKick.perform()
#print "kick reselected"
# If the selected kick is different, then do kick reset.
if gSelectedKick != None and selectedKick[0] != gSelectedKick[0]:
doKickReset()
gSelectedKick = selectedKick
# If kick selection returns paw kick, change it to
# grab dribble.
# Because we can't paw kick or dribble from grab.
kickType = gSelectedKick[0]
if kickType == sSelKick.KT_DRIBBLE\
or kickType == sSelKick.KT_PAW_KICK\
or kickType == sSelKick.KT_AVOID_OWN_GOAL:
gSelectedKick = (sSelKick.KT_GRAB_DRIBBLE, gSelectedKick[1],
gSelectedKick[2])
r = Constant.STATE_EXECUTING
if sGrab.isGrabbed:
if not sGrab.isBallUnderChin():
return Constant.STATE_FAILED
kickType, dkd, direction = gSelectedKick
# Find a global co-ordinate on the dkd
tx, ty = hMath.getPointRelative(Global.ballX, Global.ballY, dkd, 200)
# Setting isClockwise
isClockwise = None
if direction == Constant.dCLOCKWISE:
isClockwise = True
elif direction == Constant.dANTICLOCKWISE:
isClockwise = False
if kickType == sSelKick.KT_GRAB_TURN_KICK:
r = sGrabTurnKick.perform(False, Action.HeadTapWT, tx, ty)
#r = sGrabDribble.performToDKD(dkd, 0)
elif kickType == sSelKick.KT_GRAB_TURN_SHOOT:
r = sGrabTurnKick.perform()
elif kickType == sSelKick.KT_GRAB_DRIBBLE_GOAL:
r = sGrabDribble.performToTargetGoal()
elif kickType == sSelKick.KT_GRAB_DRIBBLE_STOP:
r = sGrabDribble.performToDKD(dkd,
minTimeToDribble=2500,
dontKick=True)
elif kickType == sSelKick.KT_GRAB_DRIBBLE:
r = sGrabDribble.performToDKD(dkd)
elif kickType == sSelKick.KT_TURN_KICK:
r = sTurnKick.perform(dkd, isClockwise=isClockwise)
elif kickType == sSelKick.KT_UPENN_LEFT:
#print "grab upeen left"
r = sUpennKick.perform(dkd, True)
elif kickType == sSelKick.KT_UPENN_RIGHT:
#print "grab upeen right"
r = sUpennKick.perform(dkd, False)
else:
print "rAttacker.py : No appropriate kick for grab chosen??? ", kickType
r = Constant.STATE_FAILED
return r
def GrabGenerator():
global counter, grabbing_time_when_stop, moveTo, isCorrectstandingPosition
grab_counter = 0
sensor_counter = 0
kickType = None
# grabbing
local_isGrabed = False
if not local_isGrabed:
sGrab.resetPerform()
while sGrab.perform() == Constant.STATE_EXECUTING:
if not isCorrectstandingPosition and Global.ballD <= 30: #sGrab.REALLY_SLOW_DIST :
isCorrectstandingPosition = True
print "distance ok to stop"
return
yield True
while local_isGrabed:
if grabbing_time_when_stop > MAX_GRABBING_TIME_WHEN_STOP:
grabbing_time_when_stop = 0
local_isGrabed = True
sGrab.moveHeadForward()
Action.openMouth()
grabbing_time_when_stop = grabbing_time_when_stop + 1
yield True
while not kickType:
sGrab.moveHeadForward()
Action.openMouth()
#posx,posy = Global.selfLoc.getPos()
#print "float:",posx, posy
#posx = int(posx)
#posy = int(posy)
#print "int:",posx, posy
if moveTo == None:
print "WARNING moveTo == None"
print "This is broken"
#sGrabDribble.GrabSideWalk(moveTo)
#kickType == Action.DiveKickWT
grab_counter += 1
if grab_counter % 15 != 0:
if VisionLink.getAnySensor(Constant.ssCHEST_INFRARED) > 138000:
sensor_counter += 1
else:
if sensor_counter < 3:
print "Oops, fail grabbing the ball.."
reset()
return
else:
sensor_counter = 0
# Check if we've grabbed for too long
if grab_counter > GRAB_FRAME_MAX:
kickType = Action.DiveKickWT
#headColor((True, False, False))
#Action.standStill()
#reset()
#return # Raise a StopIteration exception
yield True
# Start kick
# if Debug.TurnAndSideMoveDebug :
print "kicking"
if kickType == Action.DiveKickWT:
kickCount = 15 #30
else:
kickCount = 22
# Do kick
for _ in range(kickCount):
Action.kick(kickType)
Action.openMouth()
yield True
isCorrectstandingPosition = False
Global.lostBall = 0
reset()
def perform(params=None):
global gLastFrameCalled
global gLastDecisionFunction
global pos, friendPos, isPlayerSet, friend, friendloc, centerPos
hTeam.sendWirelessInfo()
id(params) # ignore
if not isPlayerSet:
if Global.myPlayerNum == 3:
friend = Global.teamPlayers[1]
friendloc = Global.teammatesLoc[1]
centerPos = (Constant.FIELD_WIDTH / 2, Constant.GOALBOX_DEPTH)
else:
friend = Global.teamPlayers[2]
friendloc = Global.teammatesLoc[2]
centerPos = (Constant.FIELD_WIDTH / 2,
Constant.FIELD_LENGTH - Constant.GOALBOX_DEPTH)
isPlayerSet = True
print "Player no:", Global.myPlayerNum
friendPos = friendloc.getPos()
pos = Global.selfLoc.getPos()
#if friend grab, go to center position, while looking at obstacle, get facing ball.
#if see ball far away, get behind ball (don't pass half the field) while scanning for ball and obstacle.
#if see ball < 1/2 field, chase and grab, turn no obstacle, until facing friend or gap upfield. and kick if obstacle near, if not stop realease, and scan look for obstacle and ball.
#if got wirelessball get behind wireless ball on keep a distance with obstacle, scan.
#if doesn't see and doesn't have wireless ball, find ball and goto base spot to spin again.
calculateObstacleBox()
shouldIBeDodgy = gUseDodgyDog
if gLastFrameCalled != Global.frame - 1:
resetPerform()
gLastFrameCalled = Global.frame
# elif shouldIKick():
# #shouldIBeDodgy = False #Really?
# doKick()
if (sGrab.isGrabbed):
print "friend is in :", friendPos[0], " ", friendPos[1]
r = scGrabDribble.performToPosition((friendPos[0], friendPos[1]))
# if r == Constant.STATE_EXECUTING:
# return
# else:
# scGrabDribble.resetPerform()
#align to friend gps, while avoiding the obstacle.
#and the pass to him.
elif (sGrab.grabbingCount > 0):
#print "grabbing"
r = sGrab.perform(doGetBehindv=sFindBall.GET_BEHIND_NONE)
if r == Constant.STATE_EXECUTING:
return
elif r == Constant.STATE_FAILED:
sGrab.resetPerform()
elif shouldIFindSpace():
#print "Find space"
doFindSpace()
elif not shouldIEndActivelyLocalise()\
or shouldIActivelyLocalise():
#print "active loc"
doActivelyLocalise()
elif (Global.vBall.isVisible() or Global.lostBall < Constant.LOST_BALL_GPS
or friend.hasSeenBall()):
#print "see a ball"
#if (friend.getTimeToReachBall() < selfobj.getTimeToReachBall() + 1000):
if (centerPos[1] < Constant.FIELD_LENGTH / 2):
isOtherHalf = Global.ballY > Constant.FIELD_LENGTH / 2
else:
isOtherHalf = Global.ballY < Constant.FIELD_LENGTH / 2
if (isOtherHalf): #And no near obstacle and Global.ballD > 30):
#print "ball the other end"
#if hMath.getDistSquaredBetween(pos[0],pos[1],Global.ballX,Global.ballY) > YDISTANCE_TO_BALL_SQR:
if (abs(Global.ballX - pos[0]) > YDISTANCE_TO_BALL):
sFindBall.perform(True)
#time to ball ? to get the ball if the other one is slow
if (centerPos[1] < Constant.FIELD_LENGTH / 2):
hTrack.saGoToTarget(
Global.ballX,
max(pos[1], Global.ballY - YDISTANCE_TO_BALL)
) #and ywhere the same or more if y diff less than 2 meter)
else:
hTrack.saGoToTarget(
Global.ballX,
max(pos[1], Global.ballY + YDISTANCE_TO_BALL)
) #and ywhere the same or more if y diff less than 2 meter)
else:
sFindBall.perform(True)
if (centerPos[1] < Constant.FIELD_LENGTH / 2):
movePoint = (max(
LOOK_OFFSETX,
min(Global.ballX,
Constant.FIELD_WIDTH - LOOK_OFFSETX)),
Global.ballY - YDISTANCE_TO_BALL)
else:
movePoint = (max(
LOOK_OFFSETX,
min(Global.ballX,
Constant.FIELD_WIDTH - LOOK_OFFSETX)),
Global.ballY + YDISTANCE_TO_BALL)
hTrack.saGoToTargetFacingHeading(
movePoint[0], movePoint[1],
hMath.getHeadingBetween(pos[0], pos[1], Global.ballX,
Global.ballY))
else:
#print "Grab"
r = sGrab.perform(doGetBehindv=sFindBall.GET_BEHIND_NONE)
if r == Constant.STATE_EXECUTING:
return
elif r == Constant.STATE_FAILED:
sGrab.resetPerform()
else: #if shouldIGoToCenter():
#print "goto center"
doGotoCenter()
# Use dodgy dog if required
fwdCmd = Action.finalValues[Action.Forward]
shouldIBeDodgy = shouldIBeDodgy and (not sGrab.isGrabbed) \
and sGrab.grabbingCount == 0 \
and Global.ballD > sGrab.CLOSE_DIST \
and fwdCmd > Action.MAX_SKE_FWD_SPD/2 \
and fwdCmd > Action.finalValues[Action.Left] \
and sDodgyDog.shouldIBeDodgyToBall()
if shouldIBeDodgy:
sDodgyDog.dodgyDogToBall()
def kickOffKickToGap():
global playCounter, whenGrabbed
global bestHeading, gBestHeading
(myX, myY) = Global.selfLoc.getPos()
myH = Global.selfLoc.getHeading()
if pReady.chosenFormation == 0:
print "chosenFormation =", pReady.chosenFormation, "- going right"
(kickX, kickY) = (Constant.MAX_GOALBOX_EDGE_X,
Constant.TOP_GOALBOX_EDGE_Y)
(suppX, suppY) = (kickX + 40, kickY - 40)
(lKickX, lKickY) = hMath.getLocalCoordinate(myX, myY, myH, kickX,
kickY)
else:
print "chosenFormation =", pReady.chosenFormation, "- going left"
(kickX, kickY) = (Constant.MIN_GOALBOX_EDGE_X,
Constant.TOP_GOALBOX_EDGE_Y)
(suppX, suppY) = (kickX - 40, kickY - 40)
(lKickX, lKickY) = hMath.getLocalCoordinate(myX, myY, myH, kickX,
kickY)
if pReady.isCentre(Global.kickOffPos):
if playCounter > 120: # 6 sec, just in case
return False
if whenGrabbed == 0:
#print "grabbing"
if sGrab.grabbingCount == 0:
# Find the obstacle gap just before we drop the head to grab
(gapLeft, gapRight, bestHeading, angle) = \
VisionLink.getBestGap(lKickX, lKickY,
GAP_MAX_DIST,GAP_MIN_DIST,
GAP_MIN,GAP_MIN_INTENSITY,
Constant.OBS_USE_SHARED)
gBestHeading = hMath.local2GlobalHeading(
Global.selfLoc, bestHeading)
#gBestHeading = hMath.getHeadingBetween(Constant.FIELD_WIDTH/2, Constant.FIELD_LENGTH/2, kickX, kickY)
print "local target", lKickX, lKickY
print "gap", bestHeading, gBestHeading
if sGrab.perform() == Constant.STATE_FAILED:
return False
if sGrab.isGrabbed:
print "grabbed, best gap at local", bestHeading, \
"global", gBestHeading
whenGrabbed = playCounter
return True
# Don't prevent other forward from being attacker
Global.myRole = Global.myLastRole = Constant.SUPPORTER
relH = gBestHeading - Global.selfLoc.getHeading()
if abs(relH) >= 3:
if sGrabDribble.perform(0, 0, relH) == Constant.STATE_FAILED:
return False
return True
Action.kick(Action.SoftTapWT)
if Action.shouldIContinueKick():
Action.continueKick()
return True
sGrab.resetPerform()
return False
elif pReady.isForward(Global.kickOffPos):
if playCounter < 80:
sDodgyDog.dodgyDogTo(suppX, suppY)
hTrack.stationaryLocalise(6, 30, -30)
return True
elif playCounter < 120:
if hTrack.canSeeBall and Global.ballD < 30:
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
h = hMath.normalizeAngle_0_360(myH + Global.ballH)
hTrack.saGoToTargetFacingHeading(suppX, suppY, h)
hFWHead.DecideNextAction()
return True
else:
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
else:
return False
return False
def kickOffKickToCorner():
global playCounter, whenGrabbed
global bestHeading, gBestHeading
# Warning: this set play freezes the attacker when it fails.
# Don't use it yet
(myX, myY) = Global.selfLoc.getPos()
myH = Global.selfLoc.getHeading()
if pReady.chosenFormation == 0:
(kickX, kickY) = (Constant.FIELD_WIDTH, Constant.FIELD_LENGTH - 80)
(suppX, suppY) = (kickX + 40, kickY - 40)
else:
(kickX, kickY) = (0, Constant.FIELD_LENGTH - 80)
(suppX, suppY) = (kickX - 40, kickY - 40)
if pReady.isCentre(Global.kickOffPos):
print "kickToCorner: whenGrabbed", whenGrabbed,
if playCounter > 120: # 6 sec, just in case
return False
if whenGrabbed == 0:
if sGrab.grabbingCount == 0:
# Find the obstacle gap just before we drop the head to grab
#(gapLeft, gapRight, bestHeading, angle) = \
# VisionLink.getBestGap(lKickX, lKickY,
# GAP_MAX_DIST,GAP_MIN_DIST,
# GAP_MIN,GAP_MIN_INTENSITY,
# Constant.OBS_USE_SHARED)
gap = getGapTo(kickX, kickY)
if gap != None:
(gapLeft, gapRight, bestHeading, angle) = gap
bestHeading += hMath.getSign(5, bestHeading)
else:
bestHeading = hMath.getHeadingToAbsolute(
Global.selfLoc, kickX, kickY)
gBestHeading = hMath.local2GlobalHeading(
Global.selfLoc, bestHeading)
print "gap", bestHeading, gBestHeading,
print "grabbing"
if sGrab.perform() == Constant.STATE_FAILED:
print "Grab failed in set play. Done."
sGrab.resetPerform()
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
if sGrab.isGrabbed:
print "grabbed, best gap at local", bestHeading, \
"global", gBestHeading
whenGrabbed = playCounter
return True
# Don't prevent other forward from being attacker
Global.myRole = Global.myLastRole = Constant.SUPPORTER
# Keep updating gap, but not with shared obs
gap = getGapTo(kickX, kickY)
if gap != None:
(gapLeft, gapRight, bestHeading, angle) = gap
bestHeading += hMath.getSign(5, bestHeading)
gBestHeading = hMath.local2GlobalHeading(Global.selfLoc,
bestHeading)
print "New gap global", gBestHeading,
else:
print "No gap left - using last global", gBestHeading,
#bestHeading = 0 # Kick now
relH = gBestHeading - Global.selfLoc.getHeading()
print "relH", relH,
if abs(relH) >= 4 and (playCounter - whenGrabbed) < 55:
print "dribbling"
if sGrabDribble.perform(0, 0, relH) == Constant.STATE_FAILED:
print "dribble failed. Done."
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
return True
print "Kicking",
Action.kick(Action.SoftTapWT)
if Action.shouldIContinueKick():
Action.continueKick()
return True
sGrab.resetPerform()
print "success. Done."
return False
elif pReady.isForward(Global.kickOffPos):
Global.myRole = Global.myLastRole = Constant.ATTACKER
if playCounter < 60:
hTrack.saGoToTarget(suppX, suppY, 25)
hFWHead.DecideNextAction()
return True
elif playCounter < 100:
if hTrack.canSeeBall and Global.ballD < 30:
return False
h = hMath.normalizeAngle_0_360(myH + Global.ballH)
hTrack.saGoToTargetFacingHeading(suppX, suppY, h)
hFWHead.DecideNextAction()
return True
else:
rAttacker.perform()
return False
else:
return False
return False
def kickOffPushToSupporter():
global playCounter, whenGrabbed
global bestHeading, gBestHeading
(myX, myY) = Global.selfLoc.getPos()
myH = Global.selfLoc.getHeading()
if pReady.chosenFormation == 0:
(suppX, suppY) = (PUSH_TO_X + 40, PUSH_TO_Y - 40)
else:
(suppX, suppY) = (PUSH_TO_X - 40, PUSH_TO_Y - 40)
if pReady.isCentre(Global.kickOffPos):
if playCounter > 180: # 6 sec, just in case
return False
if whenGrabbed == 0:
#print "grabbing"
if sGrab.grabbingCount == 0:
# Find the obstacle gap just before we drop the head to grab
#(gapLeft, gapRight, bestHeading, angle) = \
# VisionLink.getBestGap(lKickX, lKickY,
# GAP_MAX_DIST,GAP_MIN_DIST,
# GAP_MIN,GAP_MIN_INTENSITY,
# Constant.OBS_USE_SHARED)
gap = getGapTo(PUSH_TO_X, PUSH_TO_Y)
if gap != None:
(gapLeft, gapRight, bestHeading, angle) = gap
else:
bestHeading = hMath.getHeadingToAbsolute(
Global.selfLoc, PUSH_TO_X, PUSH_TO_Y)
gBestHeading = hMath.local2GlobalHeading(
Global.selfLoc, bestHeading)
print "gap ", bestHeading, gBestHeading
if sGrab.perform() == Constant.STATE_FAILED:
return False
if sGrab.isGrabbed:
#print "grabbed, best gap at local", bestHeading, \
# "global", gBestHeading
whenGrabbed = playCounter
return True
# Don't prevent other forward from being attacker
Global.myRole = Global.myLastRole = Constant.SUPPORTER
relH = gBestHeading - Global.selfLoc.getHeading()
if playCounter - whenGrabbed < 40:
if sGrabDribble.perform(Action.MAX_FORWARD, 0, relH) \
== Constant.STATE_FAILED:
return False
return True
Action.kick(Action.GTChestPushWT)
if Action.shouldIContinueKick():
Action.continueKick()
return True
sGrab.resetPerform()
return False
elif pReady.isForward(Global.kickOffPos):
if playCounter < 80:
sDodgyDog.dodgyDogTo(suppX, suppY)
hTrack.stationaryLocalise(6, 30, -30)
return True
elif playCounter < 120:
if hTrack.canSeeBall and Global.ballD < 30:
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
h = hMath.normalizeAngle_0_360(myH + Global.ballH)
hTrack.saGoToTargetFacingHeading(suppX, suppY, h)
hFWHead.DecideNextAction()
return True
else:
Global.myRole = Global.myLastRole = Constant.ATTACKER
return False
else:
return False
return False