def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
if player.kick == kicks.M_LEFT_SIDE or player.kick == kicks.M_RIGHT_SIDE:
positionForKick.speed = Navigator.GRADUAL_SPEED
else:
positionForKick.speed = MIN_SPEED
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
positionForKick.speed)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('executeMotionKick')
else:
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(
ball.rel_x - player.kick.setupX, ball.rel_y - player.kick.setupY, 0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
if player.kick == kicks.M_LEFT_SIDE or player.kick == kicks.M_RIGHT_SIDE:
positionForKick.speed = Navigator.GRADUAL_SPEED
else:
positionForKick.speed = MIN_SPEED
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
positionForKick.speed)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('executeMotionKick')
else:
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForKick(player):
"""
Get to the ball.
Uses chaseBall to walk to the ball when its far away, and positionForKick
once we get close. This allows Player to monitor Navigator's progress as it
positions.
"""
if player.penaltyKicking and player.brain.ball.loc.inOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
if player.firstFrame():
player.brain.tracker.trackBall()
player.inKickingState = False
if player.counter % 10 is 0:
player.brain.kickDecider.decideKick()
player.brain.nav.kickPosition(player.brain.kickDecider.getKick())
# most of the time going to chase will kick back to here, lets us reset
if transitions.shouldFindBallKick(player):
player.inKickingState = False
return player.goLater('chase')
#if transitions.shouldKick(player):
if transitions.ballInPosition(player) and (player.brain.nav.isStopped() or
player.brain.nav.isAtPosition()):
if transitions.shouldOrbit(player):
return player.goNow('lookAround')
else:
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get to the ball.
Uses chaseBall to walk to the ball when its far away, and positionForKick
once we get close. This allows Player to monitor Navigator's progress as it
positions.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
player.inKickingState = True
if player.counter % 10 is 0:
player.brain.kickDecider.decideKick()
player.brain.nav.kickPosition(player.brain.kickDecider.getKick())
# most of the time going to chase will kick back to here, lets us reset
if transitions.shouldFindBallKick(player):
player.inKickingState = False
return player.goLater('chase')
#if transitions.shouldKick(player):
if transitions.ballInPosition(player):
if transitions.shouldOrbit(player):
print "Don't have a kick, orbitting"
return player.goNow('orbitBall')
else:
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player)
or transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1], 0)
#only enque the new goTo destination once
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.goTo(positionForKick.kickPose, Navigator.PRECISELY,
Navigator.GRADUAL_SPEED, False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player) and player.counter > 15:
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose)
or player.brain.nav.isAtPosition()):
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForPenaltyKick(player):
"""
We're getting ready for a penalty kick
"""
if player.firstFrame():
positionForPenaltyKick.position = True
player.inKickingState = True
positionForPenaltyKick.yes = False
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
print "Kicking with left"
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
print "Kicking with right"
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
print "Going Back to Chase"
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForPenaltyKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
#So we stand and wait for two seconds before actually positioning
if player.stateTime < 2:
return player.stay()
elif positionForPenaltyKick.position:
player.ballBeforeApproach = player.brain.ball
player.brain.tracker.lookStraightThenTrack()
positionForPenaltyKick.position = True
player.brain.nav.goTo(positionForPenaltyKick.kickPose,
Navigator.PRECISELY,
Navigator.CAREFUL_SPEED,
False,
Navigator.ADAPTIVE)
positionForPenaltyKick.position = False
else:
player.brain.nav.updateDest(positionForPenaltyKick.kickPose)
if (transitions.ballInPosition(player, positionForPenaltyKick.kickPose) or
player.brain.nav.isAtPosition()):
positionForPenaltyKick.yes = True
#return player.stay()
player.brain.nav.stand()
return player.goNow('kickBallExecute')
if positionForPenaltyKick.yes:
print "ball relX: ", ball.rel_x
print "ball relY: ", ball.rel_y
return player.stay()
def positionForPenaltyKick(player):
"""
We're getting ready for a penalty kick
"""
if player.firstFrame():
positionForPenaltyKick.position = True
player.inKickingState = True
positionForPenaltyKick.yes = False
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
print "Kicking with left"
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
print "Kicking with right"
if (transitions.shouldApproachBallAgain(player)
or transitions.shouldRedecideKick(player)):
player.inKickingState = False
print "Going Back to Chase"
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForPenaltyKick.kickPose = RelRobotLocation(
ball.rel_x - kick_pos[0], ball.rel_y - kick_pos[1], 0)
#So we stand and wait for two seconds before actually positioning
if player.stateTime < 2:
return player.stay()
elif positionForPenaltyKick.position:
player.ballBeforeApproach = player.brain.ball
player.brain.tracker.lookStraightThenTrack()
positionForPenaltyKick.position = True
player.brain.nav.goTo(positionForPenaltyKick.kickPose,
Navigator.PRECISELY, Navigator.CAREFUL_SPEED,
False, Navigator.ADAPTIVE)
positionForPenaltyKick.position = False
else:
player.brain.nav.updateDest(positionForPenaltyKick.kickPose)
if (transitions.ballInPosition(player, positionForPenaltyKick.kickPose)
or player.brain.nav.isAtPosition()):
positionForPenaltyKick.yes = True
#return player.stay()
player.brain.nav.stand()
return player.goNow('kickBallExecute')
if positionForPenaltyKick.yes:
print "ball relX: ", ball.rel_x
print "ball relY: ", ball.rel_y
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(
ball.rel_x - player.kick.setupX, ball.rel_y - player.kick.setupY, 0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.MEDIUM_SPEED)
positionForKick.slowDown = False
elif player.brain.ball.vis.on: # don't update if we don't see the ball
# slows down the walk when very close to the ball to stabalize motion kicking and to not walk over the ball
if player.kick == kicks.M_LEFT_STRAIGHT or player.kick == kicks.M_RIGHT_STRAIGHT:
if (not positionForKick.slowDown and player.brain.ball.distance <
constants.SLOW_DOWN_TO_BALL_DIST):
positionForKick.slowDown = True
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.GRADUAL_SPEED)
elif (positionForKick.slowDown and player.brain.ball.distance >=
constants.SLOW_DOWN_TO_BALL_DIST):
positionForKick.slowDown = False
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.MEDIUM_SPEED)
else:
player.brain.nav.updateDestinationWalkDest(
positionForKick.kickPose)
else:
player.brain.nav.updateDestinationWalkDest(
positionForKick.kickPose)
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('executeMotionKick')
else:
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.stat_rel_x - kick_pos[0],
ball.stat_rel_y - kick_pos[1],
0)
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
#only enque the new goTo destination once and update it afterwards
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.PRECISELY,
Navigator.SLOW_SPEED,
False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player):
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose) or
player.brain.nav.isAtPosition()):
player.ballBeforeKick = player.brain.ball
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get to the ball.
Uses chaseBall to walk to the ball when its far away, and positionForKick
once we get close. This allows Player to monitor Navigator's progress as it
positions.
"""
if player.penaltyKicking and player.brain.ball.loc.inOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
ballLoc = player.brain.ball.loc
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ballLoc.relX - kick_pos[0] - 3,
ballLoc.relY - kick_pos[1],
0)
if player.firstFrame():
player.brain.tracker.trackBall()
player.inKickingState = False
#only enque the new goTo destination once
if player.firstFrame():
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.CLOSE_ENOUGH,
Navigator.CAREFUL_SPEED,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
# most of the time going to chase will kick back to here, lets us reset
if transitions.shouldFindBallKick(player) and player.counter > 15:
player.inKickingState = False
return player.goNow('findBall')
#if transitions.shouldKick(player):
if transitions.ballInPosition(player, positionForKick.kickPose) or player.brain.nav.isAtPosition():
# if transitions.shouldOrbit(player):
# return player.goNow('lookAround')
# else:
player.brain.nav.stand()
return player.goLater('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.BRISK_SPEED)
positionForKick.slowDown = False
elif player.brain.ball.vis.on: # don't update if we don't see the ball
# slows down the walk when very close to the ball to stabalize motion kicking and to not walk over the ball
if player.motionKick:
if (not positionForKick.slowDown and
player.brain.ball.distance < constants.SLOW_DOWN_TO_BALL_DIST):
positionForKick.slowDown = True
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED)
elif (positionForKick.slowDown and
player.brain.ball.distance >= constants.SLOW_DOWN_TO_BALL_DIST):
positionForKick.slowDown = False
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.BRISK_SPEED)
else:
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
else:
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('executeMotionKick')
else:
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED,
True)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
if transitions.shouldFindBall(player):
player.inKickingState = False
return player.goLater('chase')
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('motionKickExecute')
else:
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
print "DEBUG_SUITE: In 'positionForKick', either shouldApproachBallAgain or shouldRedecideKick. Switching to 'chase'."
player.inKickingState = False
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
#only enque the new goTo destination once
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
#TODO: try getting rid of ADAPTIVE here, if ball estimates are good,
#we don't need to lower the speed/shuffle to the ball
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.PRECISELY,
Navigator.GRADUAL_SPEED,
False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player) and player.counter > 15:
print "DEBUG_SUITE: In 'positionForKick', both shouldFindBallKick and counter >15. Switching to 'chase'."
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose) or
player.brain.nav.isAtPosition()):
print "DEBUG_SUITE: In 'positionForKick', either ballInPosition or nav.isAtPosition. Switching to 'kickBallExecute'."
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player)
or transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1], 0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED, True)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
if transitions.shouldFindBall(player):
player.inKickingState = False
return player.goLater('chase')
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('motionKickExecute')
else:
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForPenaltyKick(player):
"""
We're getting ready for a penalty kick
"""
ball = player.brain.ball
positionForPenaltyKick.kickPose = RelRobotLocation(
ball.rel_x - player.kick.setupX, ball.rel_y - player.kick.setupY, 0)
if player.firstFrame():
positionForPenaltyKick.position = True
player.brain.nav.destinationWalkTo(positionForPenaltyKick.kickPose,
Navigator.GRADUAL_SPEED)
else:
#print "Updating our destination to be in the kickpose"
player.brain.nav.updateDest(positionForPenaltyKick.kickPose)
if transitions.ballInPosition(player, positionForPenaltyKick.kickPose):
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForPenaltyKick(player):
"""
We're getting ready for a penalty kick
"""
ball = player.brain.ball
positionForPenaltyKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
if player.firstFrame():
positionForPenaltyKick.position = True
player.brain.nav.destinationWalkTo(positionForPenaltyKick.kickPose,
Navigator.GRADUAL_SPEED)
else:
#print "Updating our destination to be in the kickpose"
player.brain.nav.updateDest(positionForPenaltyKick.kickPose)
if transitions.ballInPosition(player, positionForPenaltyKick.kickPose):
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForPenaltyKick(player):
"""
We're getting ready for a penalty kick
"""
ball = player.brain.ball
positionForPenaltyKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
if player.firstFrame():
positionForPenaltyKick.position = True
player.brain.nav.destinationWalkTo(positionForPenaltyKick.kickPose,
speeds.SPEED_THREE)
else:
#print "Updating our destination to be in the kickpose"
player.brain.nav.updateDest(positionForPenaltyKick.kickPose)
if transitions.ballInPosition(player, positionForPenaltyKick.kickPose) or player.counter > 100:
player.brain.nav.stand()
player.executeMove(player.kick.sweetMove)
return player.goLater('afterPenaltyKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
#only enque the new goTo destination once
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.PRECISELY,
Navigator.GRADUAL_SPEED,
False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player) and player.counter > 15:
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose) or
player.brain.nav.isAtPosition()):
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
print("I think I should redecide my kick!!")
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(
ball.rel_x - player.kick.setupX, ball.rel_y - player.kick.setupY, 0)
# print("")
# print("Ball is: ", ball.rel_x, ball.rel_y)
# print("Ball dist:", ball.distance)
# print("My kick setup is: ", player.kick.setupX, player.kick.setupY)
# print("Ball.rel_x:", ball.rel_x, "rel_y:", ball.rel_y)
if player.firstFrame():
# print("IN position for kick, should kick off: ", player.shouldKickOff)
player.brain.tracker.lookStraightThenTrack()
# if player.kick == kicks.M_LEFT_SIDE or player.kick == kicks.M_RIGHT_SIDE:
# positionForKick.speed = Navigator.GRADUAL_SPEED
# else:
positionForKick.speed = speeds.SPEED_TWO
# print("In position for kick! Setting walk speed")
# print("My location:", str(positionForKick.kickPose))
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.CLOSE_ENOUGH,
speeds.SPEED_FIVE,
True,
fast=True,
useLoc=False)
# player.brain.nav.walkTo(positionForKick.kickPose, speeds.SPEED_THREE)
# player.setWalk()
# player.brain.nav.destinationWalkTo(positionForKick.kickPose,
# positionForKick.speed)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
# print "positionForKick -- we don't see it"
player.brain.nav.updateDest(positionForKick.kickPose)
# print("MY kickpose:", str(positionForKick.kickPose))
# player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
# print "positionForKick"
# print "positionForKick"
player.ballBeforeKick = player.brain.ball
# print("Kickpose: ", str(positionForKick.kickPose))
if (transitions.ballInPosition(player, positionForKick.kickPose)
or player.brain.nav.currentState is 'atPosition'):
# print("The ball is in position! CHASEBALL")
# print player.kick
player.shouldKickOff = False
return player.goLater('executeSweetKick')
# if player.motionKick or True:
# return player.goNow('executeMotionKick')
# elif player.kick.bhKickType or True:
# player.brain.nav.stand()
# return player.goLater('executeBHKick')
# else:
# player.brain.nav.stand()
# return player.goLater('executeSweetKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
print("I think I should redecide my kick!!")
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
# print("")
# print("Ball is: ", ball.rel_x, ball.rel_y)
# print("Ball dist:", ball.distance)
# print("My kick setup is: ", player.kick.setupX, player.kick.setupY)
# print("Ball.rel_x:", ball.rel_x, "rel_y:", ball.rel_y)
if player.firstFrame():
# print("IN position for kick, should kick off: ", player.shouldKickOff)
player.brain.tracker.lookStraightThenTrack()
# if player.kick == kicks.M_LEFT_SIDE or player.kick == kicks.M_RIGHT_SIDE:
# positionForKick.speed = Navigator.GRADUAL_SPEED
# else:
positionForKick.speed = speeds.SPEED_TWO
# print("In position for kick! Setting walk speed")
# print("My location:", str(positionForKick.kickPose))
player.brain.nav.goTo(positionForKick.kickPose, Navigator.CLOSE_ENOUGH,
speeds.SPEED_FIVE, True, fast = True, useLoc = False)
# player.brain.nav.walkTo(positionForKick.kickPose, speeds.SPEED_THREE)
# player.setWalk()
# player.brain.nav.destinationWalkTo(positionForKick.kickPose,
# positionForKick.speed)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
# print "positionForKick -- we don't see it"
player.brain.nav.updateDest(positionForKick.kickPose)
# print("MY kickpose:", str(positionForKick.kickPose))
# player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
# print "positionForKick"
# print "positionForKick"
player.ballBeforeKick = player.brain.ball
# print("Kickpose: ", str(positionForKick.kickPose))
if (transitions.ballInPosition(player, positionForKick.kickPose)
or player.brain.nav.currentState is 'atPosition'):
# print("The ball is in position! CHASEBALL")
# print player.kick
player.shouldKickOff = False
return player.goLater('executeSweetKick')
# if player.motionKick or True:
# return player.goNow('executeMotionKick')
# elif player.kick.bhKickType or True:
# player.brain.nav.stand()
# return player.goLater('executeBHKick')
# else:
# player.brain.nav.stand()
# return player.goLater('executeSweetKick')
return player.stay()
