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 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 receivePass():
"""Face our ally and get ready to grab the ball if they kick it to us"""
me.goal = Goals.receivePass
angle_to_face = me.bearing(ally)
# if we're facing the ally, ungrab and get ready to receive the ball
if nearEnough(angle_to_face, me.currentRotation):
controller.stop_robot()
controller.ungrab(True)
# otherwise, turn to face our ally
else:
controller.move(angle_to_face,0,0,False,rotate_in_place=True)
def receivePass():
"""Face our ally and get ready to grab the ball if they kick it to us"""
me.goal = Goals.receivePass
angle_to_face = me.bearing(ally)
# if we're facing the ally, ungrab and get ready to receive the ball
if nearEnough(angle_to_face, me.currentRotation):
controller.stop_robot()
controller.ungrab(True)
# otherwise, turn to face our ally
else:
controller.move(angle_to_face, 0, 0, False, rotate_in_place=True)
def passBall():
"""Kick the ball full power towards our ally"""
me.goal = Goals.passBall
angle_to_face = me.bearing(ally)
# if we're facing the ally, pass them the ball
if nearEnough(angle_to_face, me.currentRotation):
controller.stop_robot()
if not controller.haveIkicked:
controller.kick(255)
# otherwise, turn to face our ally
else:
controller.move(angle_to_face,0,0,False,rotate_in_place=True)
def passBall():
"""Kick the ball full power towards our ally"""
me.goal = Goals.passBall
angle_to_face = me.bearing(ally)
# if we're facing the ally, pass them the ball
if nearEnough(angle_to_face, me.currentRotation):
controller.stop_robot()
if not controller.haveIkicked:
controller.kick(255)
# otherwise, turn to face our ally
else:
controller.move(angle_to_face, 0, 0, False, rotate_in_place=True)
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 shoot():
"""Kick the ball full power towards the goal"""
me.goal = Goals.shoot
angle_to_face = me.bearing(opponentGoal)
# if we're facing the goal, shoot!
if nearEnough(angle_to_face, me.currentRotation):
controller.stop_robot()
print controller.haveIkicked
if not controller.haveIkicked:
controller.kick(255)
# otherwise, turn to face the goal
else:
controller.move(angle_to_face,0,0,False,rotate_in_place=True)
def shoot():
"""Kick the ball full power towards the goal"""
me.goal = Goals.shoot
angle_to_face = me.bearing(opponentGoal)
# if we're facing the goal, shoot!
if nearEnough(angle_to_face, me.currentRotation):
controller.stop_robot()
print controller.haveIkicked
if not controller.haveIkicked:
controller.kick(255)
# otherwise, turn to face the goal
else:
controller.move(angle_to_face, 0, 0, False, rotate_in_place=True)
def ghost_walk(angle_to_face):
ghost_flag = False
for i in range(0, 10):
ghost_pt_x = random.random() * 30 * random.choice([1, -1])
ghost_pt_y = random.random() * 30 * random.choice([1, -1])
target = me.currentPoint.x + ghost_pt_y, me.currentPoint.y + ghost_pt_y
if target[0] > 0 and target[0] < PITCH_LENGTH and target[1] > 0 and target[1] < PITCH_WIDTH and not isEnemyBox(Point(target[0],target[1])) and lineOfSight(me.currentPoint, Point(target[0],target[1])):
ghost_flag = True
break;
if ghost_flag:
angle_to_move = me.bearing(Point(target[0],target[1]))
print "Ghost"
controller.move(angle_to_face, angle_to_move, 60, None, None)
else:
print "None"
controller.stop_robot()
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 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 ghost_walk(angle_to_face):
ghost_flag = False
for i in range(0, 10):
ghost_pt_x = random.random() * 30 * random.choice([1, -1])
ghost_pt_y = random.random() * 30 * random.choice([1, -1])
target = me.currentPoint.x + ghost_pt_y, me.currentPoint.y + ghost_pt_y
if target[0] > 0 and target[0] < PITCH_LENGTH and target[
1] > 0 and target[1] < PITCH_WIDTH and not isEnemyBox(
Point(target[0], target[1])) and lineOfSight(
me.currentPoint, Point(target[0], target[1])):
ghost_flag = True
break
if ghost_flag:
angle_to_move = me.bearing(Point(target[0], target[1]))
print "Ghost"
controller.move(angle_to_face, angle_to_move, 60, None, None)
else:
print "None"
controller.stop_robot()
def updatePositions():
"""Updates the system's belief of the state of the game based on the vision system"""
# get the info on the robots from the vision system
if api.getMyPosition() is not None:
mePosition = api.getMyPosition()
me.update(Point(mePosition[0]*X_RATIO,mePosition[1]*Y_RATIO))
else:
print "Can't find my position this tick :("
if api.getMyOrientation() is not None:
meOrientation = api.getMyOrientation()[1]
me.updateRotation(meOrientation)
else:
print "Can't find my orientation this tick :("
if api.getAllyPosition() is not None:
allyPosition = api.getAllyPosition()
ally.update(Point(allyPosition[0]*X_RATIO,allyPosition[1]*Y_RATIO))
else:
print "Can't find my friend's position this tick :("
if api.getAllyOrientation() is not None:
allyOrientation = api.getAllyOrientation()[1]
ally.updateRotation(allyOrientation)
else:
print "Can't find my friend's orientation this tick :("
if api.getEnemyPositions()[0] is not None:
enemy0Position = api.getEnemyPositions()[0]
enemies[0].update(Point(enemy0Position[0]*X_RATIO,enemy0Position[1]*Y_RATIO))
else:
print "Can't find enemy 0 this tick :("
if api.getEnemyOrientation()[0] is not None:
enemy0Orientation = api.getEnemyOrientation()[0][1]
enemies[0].updateRotation(enemy0Orientation)
else:
print "Can't find enemy 0's orientation this tick :("
if api.getEnemyPositions()[1] is not None:
enemy1Position = api.getEnemyPositions()[1]
enemies[1].update(Point(enemy1Position[0]*X_RATIO,enemy1Position[1]*Y_RATIO))
else:
print "Can't find enemy 1 this tick :("
if api.getEnemyOrientation()[1] is not None:
enemy1Orientation = api.getEnemyOrientation()[1][1]
enemies[1].updateRotation(enemy1Orientation)
else:
print "Can't find enemy 1's orientation this tick :("
if api.getBallCenter() is not None:
ballPosition = api.getBallCenter()
ball.update(Point(ballPosition[0]*X_RATIO,ballPosition[1]*Y_RATIO))
else:
print "Shit! Where's the ball gone"
try:#see who has ball posesion - needs work
if nearEnough(enemies[0].bearing(ball),enemies[0].currentRotation, near_enough_angle=45) and ball.distance(enemies[0]) < BALL_OWNERSHIP_DISTANCE:
ball.status = BallStatus.enemyA
elif nearEnough(enemies[1].bearing(ball),enemies[1].currentRotation, near_enough_angle=45) and ball.distance(enemies[1]) < BALL_OWNERSHIP_DISTANCE:
ball.status = BallStatus.enemyB
elif nearEnough(ally.bearing(ball),ally.currentRotation, near_enough_angle=45) and ball.distance(ally)< BALL_OWNERSHIP_DISTANCE:
ball.status = BallStatus.ally
elif nearEnough(me.bearing(ball), me.currentRotation, near_enough_angle=45) and ball.distance(me)< BALL_OWNERSHIP_DISTANCE and me.grabbed:
ball.status = BallStatus.me
# if we can't see it, assume it's the same
elif api.world['ball_center']==None:
pass
# if it's far enough from everything, it's free
else:
ball.status = BallStatus.free
except (TypeError, AttributeError):
print("Location of some objects unknown")
