def tick(self):
if self.got_dest_loose(self.calc_defend_pos()):
self.crouch()
trackBall.tick()
else:
if self.gotoGlobal(self.calc_defend_pos()):
self.faceBall()
self.crouch()
else:
trackBall.tick()
return self.running()
def tick(self):
gc_info = self.bb.GCInfo
trackBall.tick()
if not self.bb.motionConnected:
self.timer.restart()
if not self.timer.finished():
self.timer2.restart()
self.initial.tick()
self.crouch()
self.lookAt(45, 0)
return self.running()
# if penalised, wait
elif gc_info.penalised or gc_info.state is GCInfo.SET:
self.lookAt(0, 0)
self.crouch()
return self.running()
else:
if gc_info.connected and gc_info.state is GCInfo.INITIAL:
self.bb.reentry = False
return self.success()
if gc_info.connected and gc_info.state is GCInfo.PLAYING and self.bb.see_ball and self.bb.see_ball_cnt > 5:
self.bb.reentry = False
return self.success()
self.dest = self.bb.get_default_dest()
if not self.got_dest_loose(self.dest):
self.gotoGlobal(self.dest)
return self.running()
else:
self.crouch()
self.bb.reentry = False
return self.success()
def tick(self):
if self.bb.see_ball:
self.lostBallTimer.restart()
if self.lostBallTimer.elapsed() > 15:
self.gotoGlobal(self.bb.get_default_dest())
if self.got_dest_loose(self.bb.get_default_dest()):
self.lostBallTimer.restart()
elif self.bb.closest_to_ball() or self.bb.team_lost_ball():
self.ready = False
self.strike.tick()
else:
"""
Face ball if see ball, else seek ball
Approach close to ball
Keep 1m away, don't block attack path
"""
if self.bb.see_ball:
bally = self.bb.ball_global.y
ballx = self.bb.ball_global.x
rx = self.bb.robot_pos.x
ry = self.bb.robot_pos.y
dx = rx - ballx
dy = ry - bally
dist = sqrt(dx * dx + dy * dy)
# for attack right case
change = False
if attackRight():
if ballx > rx or abs(bally -
ry) > 150 or dist > 200 or dist < 50:
if ry > bally:
y = bally + 100
else:
y = bally - 100
angle = degree_between(self.bb.robot_pos,
self.bb.ball_global)
if not self.gotoGlobal(VecPos(ballx + 100, y, angle)):
change = True
else:
if ballx < rx or abs(bally -
ry) > 150 or dict > 200 or dist < 50:
if ry > bally:
y = bally + 100
else:
y = bally - 100
angle = degree_between(self.bb.robot_pos,
self.bb.ball_global)
if not self.gotoGlobal(VecPos(ballx + 100, y, angle)):
change = True
trackBall.tick()
if not change:
self.faceBall()
else:
# to do, max turn cnt, else go back
self.seekball.tick()
return self.running()