def __init__(self, **args):
Omni.__init__(self, **args)
# declare zone and variables associated with the servo motor :
self.zone2 = "zoneservo1"
self.zone3 = "zoneservo2"
# declare the Id of the motor, and angle of turn
self.motor = 1
self.minangle = 0
self.maxangle = math.pi
self.servospeed = 30
# servoVS = 1 indicates that the servo spin vertically : do not authorized negative servo motor angle
# servoVS = -1 indicates that the servo spin vertically : do not authorized positive servo motor angle
# servoVS = 0 : no restriction to servo angle motor. Default value.
self.servoVS = 0
#read theses values from bindings.py :
if 'minangle' in args: self.minangle = args['minangle']
if 'maxangle' in args: self.maxangle = args['maxangle']
if self.minangle > self.maxangle:
xxx = self.minangle
self.minangle = self.maxangle
self.maxangle = xxx
if 'servoVS' in args: self.servoVS = args['servoVS']
if 'servospeed' in args: self.servospeed = args['servospeed']
self.delta = 0.3
if 'delta' in args: self.delta = args['delta']
def __init__(self, **args):
Omni.__init__(self, **args)
self.tickFactor = 3.75
self.motorID = 2
self.motorID2 = -1
self.RPM = 0
self.RPM2 = 0
self.revolution = 0
self.revolution2 = 0
self.measuring = 0
self.measuring2 = 0
self.max_RPM = 0
self.RPMhist = []
self.avg_RPM = 0
self.display = 0
self.targetRPM = 100
self.spin_reverse = 0
self.jamTimer = 0
self.raspberry = 1.5
if 'ticks' in args: self.tickFactor = args['ticks']
if 'MotorID' in args: self.motorID = args['MotorID']
if 'Motor2ID' in args: self.motorID2 = args['Motor2ID']
if 'DisplayRPM' in args: self.display = args['DisplayRPM']
if 'TargetRPM' in args: self.targetRPM = args['TargetRPM']
if 'JamTime' in args: self.raspberry = args['JamTime']
self.triggerIterator = iter(self.triggers)
self.tactics.append(Tactics.Engage(self))
def __init__(self, **args):
Omni.__init__(self, **args)
self.reloadTime = 0
self.reloadDelay = 4
self.mayFire = True
self.range = 6
self.delta = 0.5 #tolerance between full Aim
def __init__(self, **args):
Omni.__init__(self, **args)
tactic = [x for x in self.tactics if x.name == "Engage"]
if len(tactic) > 0:
self.tactics.remove(tactic[0])
self.tactics.append(Tactics.Charge(self))
self.tactics.append(Tactics.Shove(self))
def __init__(self, **args):
Omni.__init__(self, **args)
self.originose = self.fNoseOffset
tactic = [x for x in self.tactics if x.name == "Engage"]
if len(tactic) > 0:
self.tactics.remove(tactic[0])
self.tactics.append(Tactics.Ram(self))
def __init__(self, **args):
Omni.__init__(self, **args)
self.stopFunction = self.Stop
self.waittime = 0.5
if 'waittime' in args:
self.waittime = args.get('waittime')
tactic = [x for x in self.tactics if x.name == "Engage"]
if len(tactic) > 0:
self.tactics.remove(tactic[0])
self.tactics.append(Tactics.Ram(self))
def Activate(self, active):
bReturn = Omni.Activate(self, active)
if not active:
# get rid of reference to self
self.stopFunction = None
return bReturn
def Tick(self):
#self.tauntbox.get("taunt1").setText("Nose: " + str(self.fNoseOffset))
# this doesn't seem to do anything, but what the heck, it's not doing any harm either.
#if plus.getTimeElapsed() > 3 and self.fNoseOffset == self.originose:
if not self.weapons and self.fNoseOffset == self.originose:
self.fNoseOffset += math.pi
bReturn = Omni.Tick(self)
return bReturn
def __init__(self, **args):
Omni.__init__(self, **args)
self.botinzone = 0
self.compinzone = 0
self.comptimer = 0
self.NoChassisTime = 8
self.RunUpsideDown = 0
self.InverterTime = 4
self.maybInvertible = 0
if 'zone' in args: self.zone = args['zone']
if 'triggers' in args: self.triggers = args['triggers']
if 'NoChassisTime' in args:
self.NoChassisTime = args['NoChassisTime'] * 4
if 'RunUpsideDown' in args: self.RunUpsideDown = args['RunUpsideDown']
def Tick(self):
# be self righteous even if we're invertible
if self.IsUpsideDown():
for trigger in self.trigger2:
self.Input(trigger, 0, 1)
bReturn = Omni.Tick(self)
return bReturn
def Tick(self):
# fire srimech here - allows us to be invertible and use srimech at the same time
if self.IsUpsideDown():
for trigger in self.trigger2:
self.Input(trigger, 0, 1)
bReturn = Omni.Tick(self)
return bReturn
def Activate(self, active):
bReturn = Omni.Activate(self, active)
if active:
self.RegisterSmartZone("weapon1", 2)
self.RegisterSmartZone("weapon2", 3)
self.RegisterSmartZone("weapon3", 4)
self.RegisterSmartZone("weapon4", 5)
return bReturn
def Tick(self):
# fire weapon
if self.weapons:
# spin up if enemy is in smartzone.
if self.botinspinzone == 1:
self.Input("Spin", 0, 100)
else:
self.Input("Spin", 0, 0)
bReturn = Omni.Tick(self)
return bReturn
def Activate(self, active):
bReturn = Omni.Activate(self, active)
if active:
self.RegisterSmartZone(self.zone2, 2)
self.RegisterSmartZone(self.zone3, 3)
else:
# get rid of reference to self
self.goodFunction = None
return bReturn
def Tick(self):
# fire srimech here - allows us to be invertible and use srimech at the same time
if self.IsUpsideDown():
for trigger in self.trigger2:
self.Input(trigger, 0, 1)
bReturn = Omni.Tick(self)
# call this now so it takes place after other driving commands
if self.stopFunction: self.stopFunction()
return bReturn
def Tick(self):
bReturn = Omni.Tick(self)
# fire weapon
if self.weapons:
# flame on depending on enemy's range
enemy, range = self.GetNearestEnemy()
if enemy is not None and range < self.flame_range:
self.Input("Flame", 0, 100)
elif self.GetInputStatus("Flame", 0) != 0:
self.Input("Flame", 0, 0)
return bReturn
def Tick(self):
bReturn = Omni.Tick(self)
if self.weapons:
if enemy is not None and range < self.spin_range:
self.Input("Spin80", 0, 80)
elif self.GetInputStatus("Spin", 0) != 0:
self.Input("Spin80", 0, 0)
if enemy is not None and range < self.spin_range:
self.Input("Spin", 0, 100)
elif self.GetInputStatus("Spin", 0) != 0:
self.Input("Spin", 0, 0)
return bReturn
def Tick(self):
bReturn = Omni.Tick(self)
if self.weapons:
# If the bot is not inverted, try to invert it : use the button control called 'Inverter' :
# here again, slight delay before inverting
if self.InverterTime > 0: self.InverterTime -= 1
#if (not self.ai.IsUpsideDown()) and (self.InverterTime <= 0) :
#if (self.InverterTime <= 0) :
if (not self.IsUpsideDown()) and (self.InverterTime <= 0):
self.Input("Inverter", 0, 1)
self.InverterTime = self.reloadDelay
return bReturn
def __init__(self, **args):
Omni.__init__(self, **args)
self.zone2 = "spin"
self.zone3 = "weapon2"
self.goodFunction = self.GoodStuckHandler
self.wiggletimer = -8
self.srimechtimer = 0
self.srispintimer = 0
self.botinzone1 = 0
self.botinzone2 = 0
self.botinzone3 = 0
self.usespinzone = 0
if 'UseSpinZone' in args: self.usespinzone = args.get('UseSpinZone')
self.pulsetime = 0
if 'Pulse' in args: self.pulsetime = args.get('Pulse')
self.pulse = self.pulsetime
self.pulsetime2 = self.pulsetime / 2
if 'Coast' in args: self.pulsetime2 = args.get('Coast')
self.pulse_range = 0
if 'PulseRange' in args: self.pulse_range = args.get('PulseRange')
self.spinup = 2
if 'StartSpinup' in args: self.spinup = args.get('StartSpinup')
def Tick(self):
bReturn = Omni.Tick(self)
# fire weapon
if self.weapons:
if len(targets) > 0 and self.reloadTime <= 0:
try:
trigger = self.triggerIterator.next()
except StopIteration:
self.triggerIterator = iter(self.triggers)
trigger = self.triggerIterator.next()
self.Input(trigger, 0, 1)
self.Throttle(0)
self.reloadTime = self.reloadDelay
return bReturn
def Tick(self):
bReturn = Omni.Tick(self)
# fire weapon
if self.weapons:
# spin up depending on enemy's range
enemy, range = self.GetNearestEnemy()
if enemy is not None and range < self.spin_range and self.weapons and not self.IsUpsideDown(
):
self.Input("Spin", 0, 100)
elif self.GetInputStatus("Spin", 0) != 0:
self.Input("Spin", 0, 0)
if self.IsUpsideDown():
self.Input("Spin", 0, -100)
return bReturn
def Tick(self):
# fire weapon
bReturn = Omni.Tick(self)
if self.weapons:
servoangle = self.GetMotorAngle(self.motor)
self.DebugString(10,
"Current servo motor angle : " + str(servoangle))
servoangle = self.GetMotorAngle(self.motor)
self.DebugString(10, "servo motor angle :" + str(servoangle))
if (self.servoVS == 1) and (servoangle < 0):
if (servoangle > -math.pi / 2):
self.Input("Servo", 0, -15)
else:
self.Input("Servo", 0, 15)
elif (self.servoVS == -1) and (servoangle > 0):
if (servoangle > math.pi / 2):
self.Input("Servo", 0, -15)
else:
self.Input("Servo", 0, 0)
return bReturn
def Tick(self):
bReturn = Omni.Tick(self)
# fire weapon
if self.weapons:
# spin up depending on enemy's range
enemy, range = self.GetNearestEnemy()
if enemy is not None and range < self.spin_range:
if self.spincycleMax > 0:
self.spincycle -= 1
if self.spincycle > self.spincycleMax * 0.5:
self.Input("Spin", 0, 100)
if self.spincycleMax * 0.5 >= self.spincycle > 0:
self.Input("Spin", 0, -100)
if self.spincycle <= 0:
self.spincycle = self.spincycleMax
else:
self.Input("Spin", 0, 100)
else:
self.Input("Spin", 0, 0)
return bReturn
def Tick(self):
# drive inverted
if not self.sweapons:
self.bInvertible = True
#detect when bot is not moving
if abs(self.GetSpeed()) < 0.5:
self.notMoving = 1
else:
self.notMoving = 0
#drive backwards when upside down
if self.weapons and self.IsUpsideDown() and self.notMoving == 0:
self.Input("DriveBack", 0, 100)
if self.weapons and self.IsUpsideDown() and self.notMoving == 1:
self.Input("DriveBack", 0, -100)
if not self.IsUpsideDown():
self.Input("DriveBack", 0, 0)
bReturn = Omni.Tick(self)
return bReturn
def __init__(self, **args):
Omni.__init__(self, **args)
def Activate(self, active):
# Activate flame control at the start of the match, leaving it alone in def Tick
self.Input("Flame", 0, 100)
bReturn = Omni.Activate(self, active)
return bReturn
def Activate(self, active):
bReturn = Omni.Activate(self, active)
if active:
self.RegisterSmartZone(self.spinzone, 2)
return bReturn
def __init__(self, **args):
Omni.__init__(self, **args)
self.spinzone = "spinner"
self.botinspinzone = 0
def __init__(self, **args):
Omni.__init__(self, **args)
self.flame_range = 30.0
if 'flamerange' in args:
self.flame_range = args.get('flamerange')
def __init__(self, **args):
Omni.__init__(self, **args)
if 'SpinCycle' in args:
self.spincycle = self.spincycleMax = args['SpinCycle']
else:
self.spincycle = self.spincycleMax = 0