def __init__(self, mainboard_controller, drive_controller, referee_module): self.get_coordinates = GetCoordinates() self.drive_controller = drive_controller self.to_goal = TurnToGoal(mainboard_controller, drive_controller, referee_module, self.get_coordinates) self.i = 0 self.referee_module = referee_module self.mainboard_controller = mainboard_controller
class DriveToBall(object):
def __init__(self, mainboard_controller, drive_controller, referee_module):
self.get_coordinates = GetCoordinates()
self.drive_controller = drive_controller
self.to_goal = TurnToGoal(mainboard_controller, drive_controller, referee_module, self.get_coordinates)
self.i = 0
self.referee_module = referee_module
self.mainboard_controller = mainboard_controller
def drive_to_ball(self):
self.i = 0
while self.referee_module.game_status():
coordinates = self.get_coordinates.get_coordinates()
ball_coordinates = coordinates["ball"]
self.mainboard_controller.ping()
self.mainboard_controller.start_dribbler() # just in case the dribbler did not start
if ball_coordinates != -1 or self.mainboard_controller.has_ball():
if self.mainboard_controller.has_ball():
print("has ball")
self.drive_controller.stop()
self.to_goal.turns_searching = 0
self.to_goal.turn()
continue
yellow_coordinates = coordinates["yellow"]
blue_coordinates = coordinates["blue"]
print(blue_coordinates)
if blue_coordinates != -1:
print(blue_coordinates[2])
if (yellow_coordinates != -1 and yellow_coordinates[2] > 400) or (blue_coordinates != -1 and blue_coordinates[2] > 400):
print("goal too close!")
self.drive_controller.stop()
self.turn_around()
black_coordinates = coordinates["black"]
if black_coordinates != -1 and black_coordinates[3] > 400 and black_coordinates[2] > 400:
print("darkness ahead")
if self.i > 5:
self.drive_controller.stop()
self.drive_controller.drive(ball_coordinates)
self.i = 0
else:
# to avoid cases when just losing the blob for one frame
self.i += 1
if self.i > 3:
self.drive_controller.circle()
if self.i > 15:
drive_to_goal(self.get_coordinates, self.drive_controller, self.mainboard_controller)
def turn_around(self):
self.drive_controller.circle(5)
self.mainboard_controller.ping()
sleep(0.5)
self.mainboard_controller.ping()
