def run(self):
if not self.enabled:
return
# Check if we have just begun falling.
if (not self.falling and self.brain.interface.fallStatus.falling):
# Save the player. We are falling
self.falling = True
self.brain.player.gainsOff()
self.brain.player.switchTo('fallen')
self.brain.tracker.stopHeadMoves()
# Check if we have fallen.
# HACK Guardian's `fallen` is not actually on the ground
# Put in a delay to ensure we hit the ground softly
if (not self.fell and self.brain.interface.fallStatus.fallen):
self.standDelay += 1
if (self.standDelay == 14):
self.brain.interface.motionRequest.reset_providers = True
self.brain.interface.motionRequest.timestamp = int(self.brain.time*1000)
self.brain.player.gainsOn()
if (self.standDelay == 15): # Half a second
self.fell = True
# Send a stand up move once.
elif (not self.standingUp and self.fell):
self.standingUp = True
self.brain.tracker.setNeutralHead()
move = None
if (self.brain.interface.fallStatus.on_front):
move = SweetMoves.STAND_UP_FRONT
else:
move = SweetMoves.STAND_UP_BACK
self.brain.player.executeMove(move)
self.standupMoveTime = SweetMoves.getMoveTime(move)
self.startStandupTime = self.brain.time
# If we are standing, check if we are done.
elif (self.standingUp):
if (self.brain.time - self.startStandupTime > self.standupMoveTime):
self.brain.player.stand()
self.brain.player.switchTo(self.brain.player.gameState)
self.falling = False
self.fell = False
self.standingUp = False
self.standDelay = 0
def run(self):
if not self.enabled:
return
# Check if we have just begun falling.
if (not self.falling and self.brain.interface.fallStatus.falling):
# Save the player. We are falling
self.falling = True
self.brain.player.gainsOff()
self.sawBall = self.brain.ball.vis.frames_off < 30
self.brain.player.switchTo('fallen')
self.brain.tracker.stopHeadMoves()
# Check if we have fallen.
# HACK Guardian's `fallen` is not actually on the ground
# Put in a delay to ensure we hit the ground softly
if (not self.fell and self.brain.interface.fallStatus.fallen):
self.standDelay += 1
if (self.standDelay == 14):
self.brain.interface.motionRequest.reset_providers = True
self.brain.interface.motionRequest.timestamp = int(self.brain.time*1000)
self.brain.player.gainsOn()
if (self.standDelay == 15): # Half a second
self.fell = True
# Send a stand up move once.
elif (not self.standingUp and self.fell):
self.standingUp = True
self.brain.tracker.setNeutralHead()
move = None
#stand up depends on whether the robot is a v4 or a v5
if (self.brain.interface.fallStatus.on_front):
if nogginConstants.V5_ROBOT:
move = SweetMoves.STAND_UP_FRONT
else:
move = SweetMoves.STAND_UP_FRONT_V4
else:
if nogginConstants.V5_ROBOT:
move = SweetMoves.STAND_UP_BACK
else:
move = SweetMoves.STAND_UP_BACK_V4
self.brain.player.executeMove(move)
self.standupMoveTime = SweetMoves.getMoveTime(move)
self.startStandupTime = self.brain.time
# If we are standing, check if we are done.
elif (self.standingUp):
if (self.brain.time - self.startStandupTime > self.standupMoveTime):
self.brain.player.stand()
self.falling = False
self.fell = False
self.standingUp = False
self.standDelay = 0
if self.brain.playerNumber != 1 and self.sawBall:
return self.brain.player.switchTo('searchAfterFall')
else:
self.brain.player.switchTo(self.brain.player.gameState)
def run(self):
if not self.enabled:
return
# Check if we have just begun falling.
if (not self.falling and self.brain.interface.fallStatus.falling):
# Save the player. We are falling
self.falling = True
self.brain.player.gainsOff()
self.sawBall = self.brain.ball.vis.frames_off < 30
self.brain.player.switchTo('fallen')
self.brain.tracker.stopHeadMoves()
# Check if we have fallen.
# HACK Guardian's `fallen` is not actually on the ground
# Put in a delay to ensure we hit the ground softly
if (not self.fell and self.brain.interface.fallStatus.fallen):
self.standDelay += 1
if (self.standDelay == 14):
self.brain.interface.motionRequest.reset_providers = True
self.brain.interface.motionRequest.timestamp = int(
self.brain.time * 1000)
self.brain.player.gainsOn()
if (self.standDelay == 15): # Half a second
self.fell = True
# Send a stand up move once.
elif (not self.standingUp and self.fell):
self.standingUp = True
self.brain.tracker.setNeutralHead()
move = None
#stand up depends on whether the robot is a v4 or a v5
if (self.brain.interface.fallStatus.on_front):
if nogginConstants.V5_ROBOT:
move = SweetMoves.STAND_UP_FRONT
else:
move = SweetMoves.STAND_UP_FRONT_V4
else:
if nogginConstants.V5_ROBOT:
move = SweetMoves.STAND_UP_BACK
else:
move = SweetMoves.STAND_UP_BACK_V4
self.brain.player.executeMove(move)
self.standupMoveTime = SweetMoves.getMoveTime(move)
self.startStandupTime = self.brain.time
# If we are standing, check if we are done.
elif (self.standingUp):
if (self.brain.time - self.startStandupTime >
self.standupMoveTime):
self.brain.player.stand()
self.falling = False
self.fell = False
self.standingUp = False
self.standDelay = 0
if self.brain.playerNumber != 1 and self.sawBall:
return self.brain.player.switchTo('searchAfterFall')
else:
self.brain.player.switchTo(self.brain.player.gameState)
