def squatPosition(player):
brain = player.brain
position = brain.play.getPosition()
nav = brain.nav
my = brain.my
if player.firstFrame():
player.changeOmniGoToCounter = 0
player.isChasing = False
player.squatting = False
if brain.ball.x >= constants.ACTIVE_LOC_THRESH:
brain.tracker.activeLoc()
else:
brain.tracker.trackBall()
useOmni = helper.useOmni(player)
changedOmni = False
ball = brain.ball
bearing = None
if (not nav.atDestinationGoalie() or
not nav.atHeading()):
if not useOmni:
nav.goTo((PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y,\
NogginConstants.OPP_GOAL_HEADING))
else:
nav.omniGoTo((PBConstants.GOALIE_HOME_X, PBConstants.GOALIE_HOME_Y,\
NogginConstants.OPP_GOAL_HEADING))
else:
player.stopWalking()
return player.goLater("squat")
return player.stay()
def goalieAwesomePosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
brain = player.brain
position = brain.play.getPosition()
nav = brain.nav
my = brain.my
if player.firstFrame():
player.changeOmniGoToCounter = 0
if brain.ball.dist >= constants.ACTIVE_LOC_THRESH:
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
useOmni = helper.useOmni(player)
changedOmni = False
ball = brain.ball
bearing = None
if ball.on:
bearing = ball.bearing
elif ball.framesOff < 3:
bearing = ball.locBearing
else:
bearing = NogginConstants.OPP_GOAL_HEADING
if (not nav.atDestinationGoalie() or
not nav.atHeading()):
if not useOmni:
nav.goTo((position[0], position[1], my.h + bearing))
else:
nav.omniGoTo((position[0], position[1], my.h + bearing))
else:
return player.goLater("goalieAtPosition")
return player.stay()
