def orbitBall(player):
"""
State to orbit the ball
"""
if player.brain.nav.dodging:
return player.stay()
# Calculate relative heading every frame
relH = player.decider.normalizeAngle(player.kick.setupH -
player.brain.loc.h)
# Are we within the acceptable heading range?
if (relH > -constants.ORBIT_GOOD_BEARING
and relH < constants.ORBIT_GOOD_BEARING):
print "STOPPED! Because relH is: ", relH
#player.stopWalking()
destinationX = player.kick.destinationX
destinationY = player.kick.destinationY
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
player.kick.destinationX = destinationX
player.kick.destinationY = destinationY
return player.goNow('positionForKick')
if (transitions.orbitTooLong(player)
or transitions.orbitBallTooFar(player)):
#player.stopWalking()
return player.goLater('approachBall')
# Set our walk. Nav will make sure that we don't set duplicate speeds.
if relH < 0:
if relH < -20:
player.setWalk(0, 0.7, -0.25)
else:
player.setWalk(0, 0.5, -0.15)
elif relH > 0:
if relH > 20:
player.setWalk(0, -0.7, 0.25)
else:
player.setWalk(0, -0.5, 0.15)
# DEBUGGING PRINT OUTS
if constants.DEBUG_ORBIT and player.counter % 20 == 0:
print "desiredHeading is: | ", player.kick.setupH
print "player heading: | ", player.brain.loc.h
print "orbit heading: | ", relH
print "walk is: | (", player.brain.nav.getXSpeed(
), ",", player.brain.nav.getYSpeed(), ",", player.brain.nav.getHSpeed(
), ")"
print "==============================="
# X correction
if (constants.ORBIT_BALL_DISTANCE + constants.ORBIT_DISTANCE_FAR <
player.brain.ball.distance): # Too far away
player.brain.nav.setXSpeed(.15)
elif (constants.ORBIT_BALL_DISTANCE - constants.ORBIT_DISTANCE_CLOSE >
player.brain.ball.distance): # Too close
player.brain.nav.setXSpeed(-.15)
elif (constants.ORBIT_BALL_DISTANCE + constants.ORBIT_DISTANCE_GOOD >
player.brain.ball.distance
and constants.ORBIT_BALL_DISTANCE - constants.ORBIT_DISTANCE_GOOD <
player.brain.ball.distance):
player.brain.nav.setXSpeed(0)
# H correction
if relH < 0: # Orbiting clockwise
if player.brain.ball.rel_y > 2:
player.brain.nav.setHSpeed(0)
elif player.brain.ball.rel_y < -2:
if relH < -20:
player.brain.nav.setHSpeed(-0.35)
else:
player.brain.nav.setHSpeed(-0.2)
else:
if relH < -20:
player.brain.nav.setHSpeed(-0.25)
else:
player.brain.nav.setHSpeed(-0.15)
else: # Orbiting counter-clockwise
if player.brain.ball.rel_y > 2:
if relH > 20:
player.brain.nav.setHSpeed(0.35)
else:
player.brain.nav.setHSpeed(0.2)
elif player.brain.ball.rel_y < -2:
player.brain.nav.setHSpeed(0)
else:
if relH > 20:
player.brain.nav.setHSpeed(0.25)
else:
player.brain.nav.setHSpeed(0.15)
return player.stay()
def orbitBall(player):
"""
State to orbit the ball
"""
# Calculate relative heading every frame
relH = player.kick.h - player.brain.loc.h
# Are we within the acceptable heading range?
if (relH > -constants.ORBIT_GOOD_BEARING and
relH < constants.ORBIT_GOOD_BEARING):
print "STOPPED! Because relH is: ", relH
player.stopWalking()
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
return player.goNow('positionForKick')
if (transitions.orbitTooLong(player) or
transitions.orbitBallTooFar(player)):
player.stopWalking()
player.inKickingState = False
return player.goLater('chase')
# Set our walk. Nav will make sure that we don't set duplicate speeds.
if relH < 0:
if relH < -20:
player.setWalk(0, 0.7, -0.25)
else:
player.setWalk(0, 0.5, -0.15)
elif relH > 0:
if relH > 20:
player.setWalk(0, -0.7, 0.25)
else:
player.setWalk(0, -0.5, 0.15)
# DEBUGGING PRINT OUTS
if constants.DEBUG_ORBIT and player.counter%20 == 0:
print "desiredHeading is: | ", player.kick.h
print "player heading: | ", player.brain.loc.h
print "orbit heading: | ", relH
print "walk is: | (",player.brain.nav.getXSpeed(),",",player.brain.nav.getYSpeed(),",",player.brain.nav.getHSpeed(),")"
print "==============================="
# X correction
if (constants.ORBIT_BALL_DISTANCE + constants.ORBIT_DISTANCE_FAR <
player.brain.ball.distance): # Too far away
player.brain.nav.setXSpeed(.15)
elif (constants.ORBIT_BALL_DISTANCE - constants.ORBIT_DISTANCE_CLOSE >
player.brain.ball.distance): # Too close
player.brain.nav.setXSpeed(-.15)
elif (constants.ORBIT_BALL_DISTANCE + constants.ORBIT_DISTANCE_GOOD >
player.brain.ball.distance and constants.ORBIT_BALL_DISTANCE -
constants.ORBIT_DISTANCE_GOOD < player.brain.ball.distance):
player.brain.nav.setXSpeed(0)
# H correction
if relH < 0: # Orbiting clockwise
if player.brain.ball.rel_y > 2:
player.brain.nav.setHSpeed(0)
elif player.brain.ball.rel_y < -2:
if relH < -20:
player.brain.nav.setHSpeed(-0.35)
else:
player.brain.nav.setHSpeed(-0.2)
else:
if relH < -20:
player.brain.nav.setHSpeed(-0.25)
else:
player.brain.nav.setHSpeed(-0.15)
else: # Orbiting counter-clockwise
if player.brain.ball.rel_y > 2:
if relH > 20:
player.brain.nav.setHSpeed(0.35)
else:
player.brain.nav.setHSpeed(0.2)
elif player.brain.ball.rel_y < -2:
player.brain.nav.setHSpeed(0)
else:
if relH > 20:
player.brain.nav.setHSpeed(0.25)
else:
player.brain.nav.setHSpeed(0.15)
return player.stay()
def orbitBall(player):
"""
State to orbit the ball. Uses two PID controllers!
"""
if player.firstFrame():
orbitBall.xController.reset()
orbitBall.hController.reset()
if player.brain.nav.dodging:
return player.stay()
# Calculate relative heading every frame
relH = player.decider.normalizeAngle(player.kick.setupH -
player.brain.loc.h)
# Check if within the acceptable heading range
if (relH > -constants.ORBIT_GOOD_BEARING
and relH < constants.ORBIT_GOOD_BEARING):
print "STOPPED! RelH: ", relH
destinationX = player.kick.destinationX
destinationY = player.kick.destinationY
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
player.kick.destinationX = destinationX
player.kick.destinationY = destinationY
player.setWalk(0, 0, 0)
# return player.goLater('positionForKick')
if transitions.shouldNotDribble(player):
return player.goNow('positionForKick')
return player.goNow('dribble')
if (transitions.orbitTooLong(player)
or transitions.orbitBallTooFar(player)):
return player.goLater('approachBall')
# Orbit in correct direction at constant speed
ySpeed = min(constants.ORBIT_Y_SPEED,
fabs(orbitBall.yController.correct(relH)))
if relH > 0: ySpeed = -ySpeed
ySpeed = ySpeed * 1.5
# Calculate corrections in x and h using PID controller
xError = player.brain.ball.distance - constants.ORBIT_X
hError = player.brain.ball.bearing
xSpeedCorrect = orbitBall.xController.correct(xError)
hSpeedCorrect = orbitBall.hController.correct(hError)
hSpeedCorrect = hSpeedCorrect * 1.3
# Set walk vector
player.setWalk(xSpeedCorrect, ySpeed, hSpeedCorrect)
if constants.DEBUG_ORBIT:
print "ORBIT DEBUG:"
print xError
print hError
print xSpeedCorrect
print hSpeedCorrect
return player.stay()
def orbitBall(player):
"""
State to orbit the ball. Uses two PID controllers!
"""
if player.firstFrame():
orbitBall.xController.reset()
orbitBall.hController.reset()
if player.brain.nav.dodging:
return player.stay()
# Calculate relative heading every frame
relH = player.decider.normalizeAngle(player.kick.setupH - player.brain.loc.h)
# Check if within the acceptable heading range
if (relH > -constants.ORBIT_GOOD_BEARING and
relH < constants.ORBIT_GOOD_BEARING):
print "STOPPED! RelH: ", relH
destinationX = player.kick.destinationX
destinationY = player.kick.destinationY
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
player.kick.destinationX = destinationX
player.kick.destinationY = destinationY
player.setWalk(0, 0, 0)
# return player.goLater('positionForKick')
if transitions.shouldNotDribble(player):
return player.goNow('positionForKick')
return player.goNow('dribble')
if (transitions.orbitTooLong(player) or
transitions.orbitBallTooFar(player)):
return player.goLater('approachBall')
# Orbit in correct direction at constant speed
ySpeed = min(constants.ORBIT_Y_SPEED, fabs(orbitBall.yController.correct(relH)))
if relH > 0: ySpeed = -ySpeed
ySpeed = ySpeed * 1.5
# Calculate corrections in x and h using PID controller
xError = player.brain.ball.distance - constants.ORBIT_X
hError = player.brain.ball.bearing
xSpeedCorrect = orbitBall.xController.correct(xError)
hSpeedCorrect = orbitBall.hController.correct(hError)
hSpeedCorrect = hSpeedCorrect * 1.3
# Set walk vector
player.setWalk(xSpeedCorrect, ySpeed, hSpeedCorrect)
if constants.DEBUG_ORBIT:
print "ORBIT DEBUG:"
print xError
print hError
print xSpeedCorrect
print hSpeedCorrect
return player.stay()
