def waitBeforeKick(player):
"""
Stop before we kick to make sure we want to kick
"""
player.inKickingState = True
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.stopWalking()
if not player.brain.nav.isStopped():
return player.stay()
if transitions.shouldKick(player):
return player.goLater('getKickInfo')
elif transitions.shouldApproachForKick(player):
player.brain.tracker.trackBall()
player.inKickingState = False
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.tracker.trackBall()
return player.goLater('scanFindBall')
elif transitions.shouldRepositionForKick(player):
player.brain.tracker.trackBall()
return player.goLater('positionForKick')
# Just don't get stuck here!
if player.counter > 50:
return player.goNow('scanFindBall')
return player.stay()
def waitBeforeKick(player):
"""
Stop before we kick to make sure we want to kick
"""
player.inKickingState = True
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.stopWalking()
if not player.brain.nav.isStopped():
return player.stay()
if transitions.shouldKick(player):
return player.goLater('getKickInfo')
elif transitions.shouldApproachForKick(player):
player.brain.tracker.trackBall()
player.inKickingState = False
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.tracker.trackBall()
return player.goLater('scanFindBall')
elif transitions.shouldRepositionForKick(player):
player.brain.tracker.trackBall()
return player.goLater('positionForKick')
# Just don't get stuck here!
if player.counter > 50:
return player.goNow('scanFindBall')
return player.stay()
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
player.brain.CoA.setRobotSlowGait(player.brain.motion)
ball = player.brain.ball
player.inKickingState = True
# Leave this state if necessary
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif transitions.shouldTurnToBallFromPositionForKick(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('turnToBall')
elif transitions.shouldApproachFromPositionForKick(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
# Determine approach speed
targetY = ball.relY
sY = MyMath.clip(targetY * constants.PFK_Y_GAIN,
constants.PFK_MIN_Y_SPEED,
constants.PFK_MAX_Y_SPEED)
sY = max(constants.PFK_MIN_Y_MAGNITUDE,sY) * MyMath.sign(sY)
if transitions.shouldApproachForKick(player):
targetX = (ball.relX -
(constants.BALL_KICK_LEFT_X_CLOSE +
constants.BALL_KICK_LEFT_X_FAR) / 2.0)
sX = MyMath.clip(ball.relX * constants.PFK_X_GAIN,
constants.PFK_MIN_X_SPEED,
constants.PFK_MAX_X_SPEED)
else:
sX = 0.0
if ball.on:
player.setSpeed(sX,sY,0)
return player.stay()
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
player.brain.CoA.setRobotSlowGait(player.brain.motion)
ball = player.brain.ball
player.inKickingState = True
# Leave this state if necessary
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif transitions.shouldTurnToBallFromPositionForKick(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('turnToBall')
elif transitions.shouldApproachFromPositionForKick(player):
player.inKickingState = False
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
# Determine approach speed
targetY = ball.relY
sY = MyMath.clip(targetY * constants.PFK_Y_GAIN, constants.PFK_MIN_Y_SPEED,
constants.PFK_MAX_Y_SPEED)
sY = max(constants.PFK_MIN_Y_MAGNITUDE, sY) * MyMath.sign(sY)
if transitions.shouldApproachForKick(player):
# targetX = (ball.relX -
# (constants.BALL_KICK_LEFT_X_CLOSE +
# constants.BALL_KICK_LEFT_X_FAR) / 2.0)
sX = MyMath.clip(ball.relX * constants.PFK_X_GAIN,
constants.PFK_MIN_X_SPEED, constants.PFK_MAX_X_SPEED)
else:
sX = 0.0
if ball.on:
player.setWalk(sX, sY, 0)
return player.stay()
