コード例 #1
0
 def execute(self, b, h, l):
    if Robot.lBallLostCount() > 15:
       self.scanForBallSkill.execute(b, h, l)
       b.actionType(ActionCommand.Body.WALK)
       # debug leds
       l.leftEye(1, 0, 0)
       l.rightEye(1, 0, 0)
    else:
       self.gotoBallSkill.execute(b, h, l)
       # debug leds
       l.leftEye(0, 1, 0)
       l.rightEye(0, 1, 0)
コード例 #2
0
   def execute(self, b, h, l):
      Robot.setCamera(self.waypoints[self.state][3])
      if Robot.lBallLostCount() <= 15:
         return True

      h.pitch(self.waypoints[self.state][0])
      h.yaw(self.waypoints[self.state][1] * 1.0)
      h.yawSpeed(self.waypoints[self.state][2])
      h.isRelative(False)
      h.pitchSpeed(.2)

      realPitch = Robot.sensorValues()['joints']['angles'][Joints.HeadPitch]
      realYaw = Robot.sensorValues()['joints']['angles'][Joints.HeadYaw]

      if abs(realPitch - h._pitch) < radians(10) and abs(realYaw - h._yaw) < radians(10):
         self.state = (self.state + 1) % len(self.waypoints)
         if self.state == 0:
            return False
      return True
コード例 #3
0
   def execute(self, b, h, l):
         if Robot.lBallLostCount() > 15 :
            self.scanForBallSkill.execute(b, h, l)
            return False
         else:
            self.trackBallSkill.execute(b, h, l)

         heading = Robot.vRrBallLocation()['heading']
         distance = Robot.vRrBallLocation()['distance']

         distance -= self.goalDistance
         b.actionType(ActionCommand.Body.FAST)
         if degrees(heading) < abs(30):
            b.turn(heading/2.0)
            b.forward(int(distance/2.5))
            b.left(0)
         else:
            b.forward(0)
            b.left(0)
            b.turn(heading/2.0)

         if distance < 15 and abs(heading) < radians(5):
            return True
         return False
コード例 #4
0
   def execute(self, b, h, l):
      isSucceed = False

      yaw = self.lastYaw
      pitch = self.lastPitch
      yawSpeed = 0.0
      pitchSpeed = 0.0

      lostBall = Robot.lBallLostCount()
      if lostBall < self.LOST_TIME:
         ball = Robot.vRrBallLocation()
         ballD = (self.lastDist + ball['distance']) / 2

         realPitch = Robot.sensorValues()['joints']['angles'][Joints.HeadPitch]
         if realPitch > 0.0 and ballD < 850:
            self.usingTopCamera = False
         elif realPitch < radians(-10.0):
            self.usingTopCamera = True

         if self.usingTopCamera:
            Robot.setCamera(WhichCamera.TOP_CAMERA)
            yaw = self.clipYaw(ball['heading'], self.YAW_FAR_OFFSET)
            pitch = radians(72.5) - atan(ballD / 1050)
            yawSpeed = 0.1
            pitchSpeed = 0.25            
         else:
            Robot.setCamera(WhichCamera.BOTTOM_CAMERA)
            yaw = self.clipYaw(ball['heading'], self.YAW_NEAR_OFFSET)
            pitch = radians(29.5) - atan(ballD / 1050)
            yawSpeed = 0.2
            pitchSpeed = 0.25

         self.lastDistDiff = ballD - self.lastDist
         self.lastDist = ballD

         if pitch < radians(-38.5):
            pitch = radians(-38.5)

         if lostBall > 10:
            yaw += (3.5 * self.lastYawDiff)
            yawSpeed = 0.5

            ballD = self.lastDist + (7.0 * self.lastDistDiff)
            if ballD > 1000:
               Robot.setCamera(WhichCamera.TOP_CAMERA)
               pitch = radians(72.5) - atan(ballD / 1050)
            else:
               Robot.setCamera(WhichCamera.BOTTOM_CAMERA)
               pitch = radians(29.5) - atan(ballD / 1050)
            pitchSpeed = 0.5

         self.lastPitch = pitch

         isSucceed = True

      Robot.setCamera(WhichCamera.BOTTOM_CAMERA)
      h.yaw(yaw)
      h.pitch(pitch)
      h.yawSpeed(yawSpeed)
      h.pitchSpeed(pitchSpeed)
      h.isRelative(False)
      return isSucceed