def guardGoal():
"""Go to the goal line and face the enemy with the ball"""
me.goal = Goals.guardGoal
angle_to_face = me.bearing(ball)
# if not on our goal line, move into the middle of it
if abs(me.currentPoint.x - ourGoal.x) > 15:
angle_to_move = me.bearing(ourGoal)
distance = me.distance(ourGoal)
controller.move(angle_to_move,angle_to_move,distance)
# if we're on our goal line, move to block the ball
else:
# work out which enemy has the ball
if ball.status == BallStatus.enemyA:
enemyNum=0
elif ball.status == BallStatus.enemyB:
enemyNum=1
else:
print("just guarding lol")
controller.move(angle_to_face,0,0,False,rotate_in_place=True)
return
# calculate where on the y axis the ball would hit if kicked now
x_dist = enemies[enemyNum].currentPoint.x - ourGoal.x
y_dist = x_dist * tan(enemies[enemyNum].currentRotation)
y_intersection = enemies[enemyNum].currentPoint.y + y_dist
# calculate where we should therefore go to (we don't want to leave the goal line)
minY = PITCH_WIDTH/2 - 0.5*GOAL_WIDTH + ROBOT_WIDTH/2
maxY = PITCH_WIDTH/2 + 0.5*GOAL_WIDTH - ROBOT_WIDTH/2
point_to_be = Point(ourGoal.x, max(minY, min(maxY, y_intersection)))
# if we're not where we should be, move there holonomically
if not nearEnough(point_to_be, me.currentPoint, near_enough_point=10):
# turn to face the opposite side of the pitch before the holo movement
if OUR_GOAL=='left':
angle_to_face=0
else:
angle_to_face=180
# calculate the parameters to send to the robot
distance = me.distance(point_to_be)
# we want to move holonomically up and down
if point_to_be.y<me.currentPoint.y:
angle_to_move = 90
else:
angle_to_move = -90
controller.move(angle_to_face,angle_to_move,distance)
# if we're in position already but just facing wrongly, turn to face the robot with the ball
elif not nearEnough(angle_to_face, me.currentRotation):
controller.move(angle_to_face,0,0,False,rotate_in_place=True)
# if we're all set, just wait for something to happen
else:
controller.stop_robot()
def guardGoal():
"""Go to the goal line and face the enemy with the ball"""
me.goal = Goals.guardGoal
angle_to_face = me.bearing(ball)
# if not on our goal line, move into the middle of it
if abs(me.currentPoint.x - ourGoal.x) > 15:
angle_to_move = me.bearing(ourGoal)
distance = me.distance(ourGoal)
controller.move(angle_to_move, angle_to_move, distance)
# if we're on our goal line, move to block the ball
else:
# work out which enemy has the ball
if ball.status == BallStatus.enemyA:
enemyNum = 0
elif ball.status == BallStatus.enemyB:
enemyNum = 1
else:
print("just guarding lol")
controller.move(angle_to_face, 0, 0, False, rotate_in_place=True)
return
# calculate where on the y axis the ball would hit if kicked now
x_dist = enemies[enemyNum].currentPoint.x - ourGoal.x
y_dist = x_dist * tan(enemies[enemyNum].currentRotation)
y_intersection = enemies[enemyNum].currentPoint.y + y_dist
# calculate where we should therefore go to (we don't want to leave the goal line)
minY = PITCH_WIDTH / 2 - 0.5 * GOAL_WIDTH + ROBOT_WIDTH / 2
maxY = PITCH_WIDTH / 2 + 0.5 * GOAL_WIDTH - ROBOT_WIDTH / 2
point_to_be = Point(ourGoal.x, max(minY, min(maxY, y_intersection)))
# if we're not where we should be, move there holonomically
if not nearEnough(point_to_be, me.currentPoint, near_enough_point=10):
# turn to face the opposite side of the pitch before the holo movement
if OUR_GOAL == 'left':
angle_to_face = 0
else:
angle_to_face = 180
# calculate the parameters to send to the robot
distance = me.distance(point_to_be)
# we want to move holonomically up and down
if point_to_be.y < me.currentPoint.y:
angle_to_move = 90
else:
angle_to_move = -90
controller.move(angle_to_face, angle_to_move, distance)
# if we're in position already but just facing wrongly, turn to face the robot with the ball
elif not nearEnough(angle_to_face, me.currentRotation):
controller.move(angle_to_face, 0, 0, False, rotate_in_place=True)
# if we're all set, just wait for something to happen
else:
controller.stop_robot()
def playBall():
# if we are closest to ball
heldByMe = ball.status == BallStatus.me
heldByAlly = ball.status == BallStatus.ally
heldByEnemyA = ball.status == BallStatus.enemyA
heldByEnemyB = ball.status == BallStatus.enemyB
ballFree = ball.status == BallStatus.free
# If the enemy has the ball
if heldByEnemyA or heldByEnemyB:
# if I'm closer to our goal than the ally, go defend it
if me.distance(ourGoal) < ally.distance(ourGoal):
guardGoal()
# otherwise, intercept the pass
else:
blockPass()
# if we have the ball
elif heldByMe:
# shoot if possible
if lineOfSight(me.currentPoint, opponentGoal):
shoot()
# else, try and pass to ally
elif lineOfSight(me.currentPoint, ally.currentPoint):
passBall()
else:
confuseEnemy()
# if our ally has the ball, set up a pass
elif ball.status == BallStatus.ally:
receivePass()
# if noone has the ball, go grab the ball or defend
elif me.distance(ball) < ally.distance(ball) and not isEnemyBox(
ball.currentPoint):
collectBall()
else:
guardGoal()
def blockPass():
"""Move to inbetween the two enemies"""
me.goal = Goals.blockPass
# work out where to move to
e0 = enemies[0].currentPoint
e1 = enemies[1].currentPoint
x = (e0.x + e1.x)/2
y = (e0.y + e1.y)/2
point_to_be = Point(x, y)
# work out the parameters for the move command
angle_to_face = point_to_be.bearing(ball.currentPoint)
angle_to_move = me.bearing(point_to_be)
distance = me.distance(point_to_be)
if not isEnemyBox(point_to_be):
controller.move(angle_to_move,angle_to_move,distance)
else:
ghost_walk(angle_to_face)
def collectBall():
"""Move towards then grab the ball"""
me.goal=Goals.collectBall
# if we've caught up to the ball, stop and grab
if nearEnough(me.bearing(ball), me.currentRotation, near_enough_angle=30) and ball.distance(me)< BALL_OWNERSHIP_DISTANCE:
controller.stop_robot()
controller.grab(True)
# otherwise, go to the ball
else:
me.goal = Goals.collectBall
angle_to_face = me.bearing(ball)
angle_to_move = angle_to_face
distance_to_move = me.distance(ball)
if lineOfSight(me.currentPoint,ball.currentPoint):
print "Real"
controller.move(angle_to_face,angle_to_move,distance_to_move,True)
else:
ghost_walk(angle_to_face)
def blockPass():
"""Move to inbetween the two enemies"""
me.goal = Goals.blockPass
# work out where to move to
e0 = enemies[0].currentPoint
e1 = enemies[1].currentPoint
x = (e0.x + e1.x) / 2
y = (e0.y + e1.y) / 2
point_to_be = Point(x, y)
# work out the parameters for the move command
angle_to_face = point_to_be.bearing(ball.currentPoint)
angle_to_move = me.bearing(point_to_be)
distance = me.distance(point_to_be)
if not isEnemyBox(point_to_be):
controller.move(angle_to_move, angle_to_move, distance)
else:
ghost_walk(angle_to_face)
def collectBall():
"""Move towards then grab the ball"""
me.goal = Goals.collectBall
# if we've caught up to the ball, stop and grab
if nearEnough(me.bearing(ball), me.currentRotation, near_enough_angle=30
) and ball.distance(me) < BALL_OWNERSHIP_DISTANCE:
controller.stop_robot()
controller.grab(True)
# otherwise, go to the ball
else:
me.goal = Goals.collectBall
angle_to_face = me.bearing(ball)
angle_to_move = angle_to_face
distance_to_move = me.distance(ball)
if lineOfSight(me.currentPoint, ball.currentPoint):
print "Real"
controller.move(angle_to_face, angle_to_move, distance_to_move,
True)
else:
ghost_walk(angle_to_face)
