def StuckResolution():
global stuckDetectTimer
debug = False
irdist = HelpGlobal.getAnySensor(Constant.ssINFRARED_NEAR)
HelpGlobal.setDefaultAction()
scanForObstacle(10, -10, -10)
if debug:
print " ", irdist
print " ", FWHead.fixHeadAt[0]
stuckDetectTimer += 1
if stuckDetectTimer == 30:
stuckDetectTimer = 0
if irdist < 200000 and HelpTeam.canSeeOpponentWithinDist(50):
closestOpp = HelpTeam.closestGpsOpponentWithinVar(50)
if closestOpp[0] is not None:
if closestOpp[0].getHeading() <= 0: # on the left
WalkAction.setNormalWalk(-5, 5, 0)
else:
WalkAction.setNormalWalk(-5, -5, 0)
def resetEachFrame():
Global.DKD = HelpTrack.getDKDRange()
if Global.state != Constant.FINISHED:
Global.myRole = Constant.NOROLE
HelpGlobal.setDefaultAction()
IndicatorAction.setDefaultIndicators()
FWHead.resetEachFrame()
def DoAction(self):
WalkAction.setNormalWalk(0,0,0)
if self.counter == self.STILL_ENOUGH:
self.startTime = HelpGlobal.getCurrentSimpleTime()
return self.outState
else:
return self
def DecideNextAction():
if (Global.debugBehaviour_line):
print "..... new frame: ", Global.frame
# If first call to ready state, reset the readyplayer's globals
if (HelpGlobal.getCurrentMode() == Constant.READYSTATE
and Global.state != Constant.READYSTATE):
ReadyPlayer.initReadyMatchPlaying()
Global.frameReset()
# Ted: In python only three states are supported. Other states are in still
# in C++. Why? If I port all the states to python then none of the C++
# behaviour would work. I think Kim still need his kimForward.cc
# and walkingLearner.cc.
# Finished state - the robot can't move at all.
if Global.state == Constant.FINISHED:
IndicatorAction.showBatteryStatus()
HelpGlobal.resetEverything()
# Ready state - let me move to my correct position.
elif Global.state == Constant.READYSTATE or Debug.mustReady:
ReadyPlayer.readyMatchPlaying()
Defender.lockDefender = False # shouldn't keep birding on new kickoff
# Set state - I can't move my legs, but I can move heads to look for ball.
elif Global.state == Constant.SETSTATE:
SetPlayer.DecideNextAction()
Defender.lockDefender = False # shouldn't keep birding on new kickoff
# Playing state - lets play a game.
else:
playGameMode()
# Show debug information using head lights.
# If landmarkDebugging is on, no more face pattern for skills will be shown.
# superDebug will be run inside it also, so don't need to call twice.
landmarkDebugging = False
if (landmarkDebugging):
LandmarkTester.DecideNextAction()
else:
pass #IndicatorAction.superDebug()
# Send wireless info to the teammates.
HelpTeam.sendWirelessInfo()
def beginAction(self):
self.walkingBackTime = HelpGlobal.getCurrentSimpleTime() - preparation3.getStartTime()
WalkAction.setForceStepComplete()
self.sum = 0.0
self.minIR = 10000000000