def update(self):
self.current_time=time.time()
if has_fallen():
return "fallen"
#if self.current_time>=self.lost_ball_timer:
#print ("lost ball")
#return "lost ball"
if self.timer and self.current_time>self.timer:
return "check again"
if not self.timer:
if vision.has_new_ball_observation():
self.first_ball_angle=ball_angle()[0]
self.last_ball_angle=self.first_ball_angle
self.timer=time.time()+fabs(self.first_ball_angle)*10
self.lost_ball_timer=self.current_time+10
else:
if like(self.first_ball_angle,self.goal_angle,pi/9):
print("lined up")
return "lined up"
else:
set_head_position(ball_angle())
if self.first_ball_angle<0:
walk.set_velocity(0, -0.4, self.last_ball_angle)
else:
walk.set_velocity(0, 0.4, self.last_ball_angle)
def update(self):
if has_fallen():
return "fallen"
if not vision.has_new_ball_observation():
if self.last_observation_of_ball+5<time.time() or self.last_distance>=tan(5*pi/12):
walk.set_velocity(self.speed, 0, 0)
robotbody.set_eyes_led(31, 0, 0)
print("lost ball")
return "no ball"
else:
self.current_head_position = robotbody.get_head_position()
if like(self.current_head_position,self.wanted_head_position):
self.update_head_position()
self.last_observation_of_ball=time.time()
self.last_distance=distance_to_ball()
if self.last_distance>0 and self.last_distance<self.distance:
print ("standing in front of ball")
return "done"
if not like(self.current_head_position[0],0,pi/18):
walk.set_velocity(self.speed, 0.4, self.current_head_position[0])
else:
walk.set_velocity(self.speed, 0, 0)
def update(self):
if has_fallen():
return("fallen")
self.update_head_position()
if vision.has_new_ball_observation():
return ("done")
def has_lost_ball(self):
if self.current_time>=self.lost_ball_timer:
robotbody.set_eyes_led(31, 0, 0)
return True
elif vision.has_new_ball_observation():
self.lost_ball_timer=self.current_time+5
return False
else:
return False
def update(self):
#Tests if it has fallen
if has_fallen():
return "fallen"
#Stores current time
self.current_time=time.time()
#Stores whether it has found a new ball observation
self.has_new_ball_observation=vision.has_new_ball_observation()
#Stores whether it has found a new goal observation
self.has_new_goal_observation=vision.has_new_goal_observation()
#Stores the distance to the ball
self.distance_to_ball=distance_to_ball()
#Stores the new angle and type if it has new observation of the goal
if self.has_new_goal_observation:
self.goal_angle,self.goal_type=goal_angle_and_type()
#Tests if it has lost the ball
if self.has_lost_ball() or self.to_long_distance():
print ("lost the ball")
return "lost ball"
#Tests the adjustment timer
if self.adjustment_timer and self.current_time>=self.adjustment_timer:
robotbody.set_eyes_led(0, 31, 0)
print("probably looking at goal")
return "done"
#Test if it has found a goal post
if (self.has_new_goal_observation and self.looking_at_goal())\
or self.changed_speed and self.current_time>self.start_time:
robotbody.set_eyes_led(0, 31, 0)
print("found goal, " + self.which_goal_type)
return "done"
#Tests if it is time to abandon the search for a goal
if self.current_time > self.start_time + self.max_circling_time:
robotbody.set_eyes_led(0, 0, 31)
print("lucky shot")
return "fail"
#Updates the head position
self.update_head_position()
#Updates the walking speed for the robot
self.update_speed()
def update(self):
if has_fallen():
return "fallen"
self.current_time=time.time()
if vision.has_new_ball_observation():
self.lost_ball_timer=self.current_time+2
elif self.current_time>self.lost_ball_timer:
return "lost ball"
if distance_to_ball()<=2.1:
return "done"
def update(self):
self.update_head_position()
if vision.has_new_ball_observation():
walk.turn_left(0)
robotbody.set_eyes_led(0, 31, 0)
print("found ball")
return "done"
if imu.get_angle()[2] > self.start_angle + self.angle:
walk.turn_left(0)
robotbody.set_eyes_led(31,0,0)
print ("can't find the ball")
return "out of sight"
def update(self):
if has_fallen():
return("fallen")
self.update_traveled_time()
self.update_head_position()
if vision.has_new_ball_observation():
self.update_last()
self.left_or_right()
elif self.last_observation+self.accepted_out_of_sight_time<time.time():
return ("out of sight")
self.walk_sideways()
def update(self):
#Tests if it has found a ball observation
if vision.has_new_ball_observation():
walk.turn_left(0)
robotbody.set_eyes_led(0, 31, 0)
print("found ball")
return "done"
#Tests if it's time to stop turning and accept a failure
if imu.get_angle()[2] > self.start_angle + self.angle:
walk.turn_left(0)
robotbody.set_eyes_led(31,0,0)
print ("can't find the ball")
return "out of sight"
#Updates the head position
self.update_head_position()
def update(self):
#Tests if it has fallen
if has_fallen():
return "fallen"
#Stores the current time for further tests
self.current_time=time.time()
#Updates the lost ball timer if it has a new ball observation
if vision.has_new_ball_observation():
self.lost_ball_timer=self.current_time+2
#Test if it has lost the ball
elif self.current_time>self.lost_ball_timer:
return "lost ball"
#Test if it is close enought to the ball
if distance_to_ball()<=self.distance_to_ball:
return "done"
def update(self):
#Tests if the robot has fallen
if has_fallen():
return "fallen"
#Stores the value if the robot has a new ball observation for further use
self.has_new_ball_observation=vision.has_new_ball_observation()
#Stores the current time for further tests
self.current_time=time.time()
#Tests if the robot has lost the ball
if self.has_lost_ball():
print("lost ball")
return "lost ball"
#Tests if it has finished moving,
#if the robot already has decided that it had to move
if self.timer and self.current_time>self.timer:
robotbody.set_eyes_led(0, 0, 31)
return "check again"
#If the timer has not started yet.
#The robot looks for the first ball observation.
#If it finds one it starts the timer and stores the angles.
if not self.timer:
if self.has_new_ball_observation:
self.start_timer()
else:
#If the difference between the goal angle and the first ball angle is less
#then 20 degrees it will tell that it has lined up
#Otherwise it will start to turn around the ball for some time,
#depending on the difference
if like(self.first_ball_angle,self.goal_angle,pi/9):
robotbody.set_eyes_led(0, 31, 0)
print("lined up")
return "lined up"
self.start_turning()
def update(self):
#Test if the robot has fallen
if has_fallen():
return "fallen"
#Stores the current time for further tests
self.current_time=time.time()
#Stores whether it have found a new ball observation
self.has_new_ball_observation=vision.has_new_ball_observation()
self.has_new_goal_observation=vision.has_new_goal_observation()
#Stores the current distance to the ball for further tests
self.distance_to_ball=distance_to_ball()
#Tests if it has lost the ball
if self.has_lost_ball() or self.to_long_distance():
print ("lost the ball")
return "lost ball"
#Test if it has found a goal post
if self.has_new_goal_observation:
if like(goal_angle()[0],0,self.alowed_angled_diff):
robotbody.set_eyes_led(0, 31, 0)
print("found goal")
return "done"
#Tests if it is time to abandon the search for a goal
if self.current_time > self.start_time + self.time:
robotbody.set_eyes_led(0, 0, 31)
print("lucky shot")
return "fail"
#Updates the head position
self.update_head_position()
#Updates the walking speed for the robot
self.update_speed()
