def squat(player):
if player.firstFrame():
player.isChasing = False
player.executeMove(SweetMoves.INITIAL_POS)
player.squatting = True
if DEBUG:
player.executeMove(SweetMoves.SAVE_CENTER_DEBUG)
else:
player.executeMove(SweetMoves.GOALIE_SQUAT)
if (player.stateTime >=
SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT) +
SweetMoves.getMoveTime(SweetMoves.INITIAL_POS)):
return player.goLater('squatted')
return player.stay()
def standFromFront(guard):
if guard.firstFrame():
guard.brain.player.executeMove(SweetMoves.STAND_UP_FRONT)
guard.standupMoveTime = SweetMoves.getMoveTime(
SweetMoves.STAND_UP_FRONT)
return guard.goLater('standing')
def saveRight(player):
if player.firstFrame():
player.executeMove(SweetMoves.GOALIE_DIVE_RIGHT)
if player.stateTime >= SweetMoves.getMoveTime(
SweetMoves.GOALIE_DIVE_RIGHT):
return player.goLater('holdRightSave')
return player.stay()
def getKickInfo(player):
"""
Decides which kick to use
"""
player.inKickingState = True
if player.firstFrame():
player.brain.tracker.stopHeadMoves()
player.kickScan()
player.kickDecider = KickDecider(player)
# If scanning, then collect data
if (player.stateTime < SweetMoves.getMoveTime(HeadMoves.KICK_SCAN)):
player.kickDecider.collectData(player.brain)
return player.stay()
# Done scanning time to act
player.brain.tracker.trackBall()
player.kickDecider.calculate()
if not player.brain.ball.on:
if player.brain.ball.framesOff < 100: # HACK, should be constant
return player.stay()
else :
player.inKickingState = False
return player.goLater('scanFindBall')
return player.goNow('decideKick')
def gamePenalized(player):
if player.firstFrame():
player.isChasing = False
player.inKickingState = False
player.justKicked = False
if player.squatting:
player.executeMove(SweetMoves.GOALIE_SQUAT_STAND_UP)
player.squatting = False
else:
player.stopWalking()
player.penalizeHeads()
if (player.stateTime >=
SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT_STAND_UP)):
player.stopWalking()
return player.stay()
def kickBallExecute(player):
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.brain.tracker.trackBall()
player.executeMove(player.chosenKick)
if not player.penaltyMadeFirstKick:
player.penaltyMadeFirstKick = True
elif not player.penaltyMadeSecondKick:
player.penaltyMadeSecondKick = True
if not player.brain.ball.on and \
player.brain.ball.framesOff > constants.LOOK_POST_KICK_FRAMES_OFF:
player.lookPostKick()
if player.stateTime >= SweetMoves.getMoveTime(player.chosenKick):
return player.goLater('afterKick')
return player.stay()
def kickAtPosition(player):
"""
Method to simply kick while standing in position
Used for a very simple goalie behavior
"""
if player.firstFrame():
player.brain.tracker.trackBall()
player.executeStiffness(StiffnessModes.LEFT_FAR_KICK_STIFFNESS)
if player.counter == 2:
player.executeMove(SweetMoves.LEFT_FAR_KICK)
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.LEFT_FAR_KICK):
player.standup()
if player.brain.nav.isStopped():
player.brain.CoA.setRobotGait(player.brain.motion)
player.currentGait = ChaseBallConstants.FAST_GAIT
return player.goLater('atPosition')
return player.stay()
def chasePrepare(player):
if player.firstFrame():
player.brain.tracker.trackBall()
player.isChasing = False
if player.squatting:
if DEBUG:
pass
else:
player.executeMove(SweetMoves.GOALIE_SQUAT_STAND_UP)
else:
player.isChasing = True
return player.goNow('chase')
elif (player.stateTime >=
SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT_STAND_UP)):
player.isChasing = True
player.squatting = False
return player.goNow('chase')
return player.stay()
def scanFindBall(player):
'''
State to move the head to find the ball. If we find the ball, we
move to align on it. If we don't find it, we spin to keep looking
'''
if player.firstFrame() or player.brain.ball.framesOff > FRAMES_OFF_THRESH:
player.printf("First frame or havent seen the ball in abit")
player.brain.tracker.switchTo('scanBall')
player.stopWalking()
if player.brain.ball.on:
player.brain.tracker.trackBall()
player.printf("ball.frames on" +str(player.brain.ball.framesOn) +
" dist:" + str(player.brain.ball.dist))
if player.brain.ball.framesOn > FRAMES_ON_THRESH:
return player.goNow('rotAlignOnBall')
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.SCAN_BALL):
return player.goNow('spinFindBall')
return player.stay()
def saveLeft(player):
if player.firstFrame():
player.executeMove(SweetMoves.GOALIE_DIVE_LEFT)
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.GOALIE_DIVE_LEFT):
return player.goLater("holdLeftSave")
return player.stay()
def shouldSpinFindBall(player):
"""
Should spin if we already tried scanning
"""
return (player.stateTime >=
SweetMoves.getMoveTime(HeadMoves.HIGH_SCAN_BALL))
def shouldSpinFindBall(player):
"""
Should spin if we already tried searching
"""
return (player.stateTime >= SweetMoves.getMoveTime(
HeadMoves.HIGH_SCAN_BALL))
def saveCenter(player):
if player.firstFrame():
player.executeMove(SweetMoves.GOALIE_SQUAT)
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT):
return player.goLater('holdCenterSave')
return player.stay()
def saveRight(player):
if player.firstFrame():
player.executeMove(SweetMoves.SAVE_RIGHT_DEBUG)
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.SAVE_RIGHT_DEBUG):
return player.goLater("holdRightSave")
return player.stay()
def standFromFront(guard):
if guard.firstFrame():
guard.brain.player.executeMove(SweetMoves.STAND_UP_FRONT)
guard.standupMoveTime = SweetMoves.getMoveTime(SweetMoves.STAND_UP_FRONT)
return guard.goLater('standing')
def saveCenter(player):
if player.firstFrame():
player.executeMove(SweetMoves.GOALIE_SQUAT)
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.GOALIE_SQUAT):
return player.goLater("holdCenterSave")
return player.stay()
def saveRight(player):
if player.firstFrame():
player.executeMove(SweetMoves.GOALIE_DIVE_RIGHT)
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.GOALIE_DIVE_RIGHT):
return player.goLater('holdRightSave')
return player.stay()
def getTimeRemainingEst(self):
if (self.currentState == "notFallen" or
self.currentState == "doneStanding"):
return 0
else:
return SweetMoves.getMoveTime(SweetMoves.STAND_UP_FRONT)
def saveLeft(player):
if player.firstFrame():
player.executeMove(SweetMoves.SAVE_LEFT_DEBUG)
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.SAVE_LEFT_DEBUG):
return player.goLater('holdLeftSave')
return player.stay()
def getTimeRemainingEst(self):
if (self.currentState == "notFallen"
or self.currentState == "doneStanding"):
return 0
else:
return SweetMoves.getMoveTime(SweetMoves.STAND_UP_FRONT)
def saveCenter(player):
if player.firstFrame():
player.executeMove(SweetMoves.SAVE_CENTER_DEBUG)
if player.stateTime >= SweetMoves.getMoveTime(SweetMoves.SAVE_CENTER_DEBUG):
return player.goLater('holdCenterSave')
return player.stay()
