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.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 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 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()
