def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we our switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we our switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
def turnToBall(player):
"""
Rotate to align with the ball. When we get close, we will approach it
"""
ball = player.brain.ball
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
# Determine the speed to turn to the ball
turnRate = MyMath.clip(ball.bearing * constants.BALL_SPIN_GAIN,
-constants.BALL_SPIN_SPEED,
constants.BALL_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(turnRate) < constants.MIN_BALL_SPIN_MAGNITUDE:
turnRate = MyMath.sign(turnRate) * constants.MIN_BALL_SPIN_MAGNITUDE
if ball.on:
player.setWalk(x=0, y=0, theta=turnRate)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def scanFindBall(player):
"""
State to move the head to find the ball. If we find the ball, we
move to align on it. If we don't find it, we spin to keep looking
"""
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
if transitions.shouldApproachBall(player):
return player.goNow('approachBall')
# a time based check. may be a problem for goalie. if it's not good for him to
# spin, he should prbly not be chaser anymore, so this wouldn't get reached
if transitions.shouldSpinFindBall(player):
return player.goNow('spinFindBall')
ball = player.brain.ball
if fabs(ball.bearing) < constants.SCAN_FIND_BEARING_THRESH:
return player.stay()
else:
return player.goLater('spinFindBall')
return player.stay()
def spinFindBall(player):
"""
State to spin to find the ball. If we find the ball, we
move to align on it. If we don't find it, we go to a garbage state
"""
if transitions.shouldApproachBall(player):
return player.goNow('approachBall')
if player.firstFrame():
#if ball.on
#player.brain.tracker.trackBallSpin()
#else:
#tracker.findBall()
my = player.brain.my
ball = player.brain.ball
spinDir = my.spinDirToPoint(ball)
player.setWalk(0, 0, spinDir*constants.FIND_BALL_SPIN_SPEED)
player.brain.tracker.trackBallSpin()
if not player.brain.play.isRole(GOALIE):
if transitions.shouldWalkToBallLocPos(player):
return player.goLater('approachBall')
return player.stay()
def turnToBall(player):
"""
Rotate to align with the ball. When we get close, we will approach it
"""
ball = player.brain.ball
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
# Determine the speed to turn to the ball
turnRate = MyMath.clip(ball.bearing*constants.BALL_SPIN_GAIN,
-constants.BALL_SPIN_SPEED,
constants.BALL_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(turnRate) < constants.MIN_BALL_SPIN_MAGNITUDE:
turnRate = MyMath.sign(turnRate)*constants.MIN_BALL_SPIN_MAGNITUDE
if ball.on:
player.setSpeed(x=0,y=0,theta=turnRate)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
else:
return player.goNow('scanFindBall')
def penaltyKickShortDribble(player):
if player.firstFrame():
player.penaltyMadeFirstKick = True
if transitions.shouldStopPenaltyKickDribbling(player):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return ChaseBallStates.approachBallWalk(player)
def penaltyKickShortDribble(player):
if player.firstFrame():
player.penaltyMadeFirstKick = True
if transitions.shouldStopPenaltyKickDribbling(player):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return ChaseBallStates.approachBallWalk(player)
def spinFindBall(player):
"""
State to spin to find the ball. If we find the ball, we
move to align on it. If we don't find it, we go to a garbage state
"""
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldApproachBall(player):
player.brain.tracker.trackBall()
return player.goLater('approachBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
else:
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
player.brain.tracker.trackBall()
return player.goLater('approachBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
elif transitions.shouldWalkToBallLocPos(player):
return player.goLater('walkToBallLocPos')
if player.firstFrame():
player.brain.tracker.trackBall()
if player.justKicked:
spinDir = player.getSpinDirAfterKick()
else:
my = player.brain.my
ball = player.brain.ball
spinDir = MyMath.getSpinDir(my.h,
my.h + ball.locBearing)
player.setSpeed(0, 0, spinDir*constants.FIND_BALL_SPIN_SPEED)
return player.stay()
def spinFindBall(player):
"""
State to spin to find the ball. If we find the ball, we
move to align on it. If we don't find it, we go to a garbage state
"""
if player.brain.play.isRole(GOALIE):
if transitions.shouldApproachBall(player):
player.brain.tracker.trackBall()
return player.goLater('approachBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
else:
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
player.brain.tracker.trackBall()
return player.goLater('approachBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
elif transitions.shouldWalkToBallLocPos(player):
return player.goLater('walkToBallLocPos')
if player.firstFrame():
player.brain.tracker.trackBall()
if player.justKicked:
spinDir = player.getSpinDirAfterKick()
else:
my = player.brain.my
ball = player.brain.ball
spinDir = my.spinDirToHeading(my.h + ball.locBearing)
player.setWalk(0, 0, spinDir * constants.FIND_BALL_SPIN_SPEED)
return player.stay()
def dribble(player):
"""
Keep running at the ball, but dribble
"""
if player.firstFrame():
player.brain.nav.dribble()
# if we should stop dribbling, see what else we should do
if transitions.shouldStopDribbling(player):
# may not be appropriate due to turned out feet...
if transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return player.stay()
def goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
# Check in order of importance
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
def dribble(player):
"""
Keep running at the ball, but dribble
"""
if player.firstFrame():
player.brain.CoA.setRobotDribbleGait(player.brain.motion)
# if we should stop dribbling, see what else we should do
if transitions.shouldStopDribbling(player):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return approachBallWalk(player)
def dribble(player):
"""
Keep running at the ball, but dribble
"""
if player.firstFrame():
player.brain.CoA.setRobotDribbleGait(player.brain.motion)
# if we should stop dribbling, see what else we should do
if transitions.shouldStopDribbling(player):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return approachBallWalk(player)
def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we are switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
return player.goNow('goalieChase')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
else:
return player.goNow('scanFindBall')
def chase(player):
"""
Super State to determine what to do from various situations
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
return player.goNow('goalieChase')
# Check in order of importance
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
def goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
# Check in order of importance
#tells the goalie what state its in
if player.firstFrame():
player.isChasing = True
player.isPositioning = False
player.isSaving = False
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
