def chaseAroundBox(player):
if player.firstFrame():
player.shouldNotChaseAroundBox = 0
player.brain.CoA.setRobotGait(player.brain.motion)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacle(
player): # Has potential to go into box!
return player.goLater('avoidObstacle')
if not transitions.shouldChaseAroundBox(player):
player.shouldChaseAroundBox += 1
else:
player.shouldChaseAroundBox = 0
if player.shouldChaseAroundBox > constants.STOP_CHASING_AROUND_BOX:
return player.goLater('chase')
ball = player.brain.ball
my = player.brain.my
if my.x > NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if ball.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if ball.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if my.x < NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if my.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if my.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
return player.stay()
def chaseAroundBox(player):
if player.firstFrame():
player.shouldNotChaseAroundBox = 0
player.brain.CoA.setRobotGait(player.brain.motion)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacle(player): # Has potential to go into box!
return player.goLater('avoidObstacle')
if not transitions.shouldChaseAroundBox(player):
player.shouldChaseAroundBox += 1
else :
player.shouldChaseAroundBox = 0
if player.shouldChaseAroundBox > constants.STOP_CHASING_AROUND_BOX:
return player.goLater('chase')
ball = player.brain.ball
my = player.brain.my
if my.x > NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if ball.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation(NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOAL_HEADING ))
if ball.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation(NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOAL_HEADING ))
if my.x < NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if my.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation( NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOAL_HEADING ))
if my.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation( NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOAL_HEADING ))
return player.stay()
def avoidObstacle(player):
"""
If we detect something in front of us, dodge it
"""
if player.firstFrame():
player.doneAvoidingCounter = 0
player.printf(player.brain.sonar)
player.brain.CoA.setRobotGait(player.brain.motion)
if (transitions.shouldAvoidObstacleLeft(player) and
transitions.shouldAvoidObstacleRight(player)):
# Backup
player.printf("Avoid by backup");
player.setSpeed(constants.DODGE_BACK_SPEED, 0, 0)
elif transitions.shouldAvoidObstacleLeft(player):
# Dodge right
player.printf("Avoid by right dodge");
player.setSpeed(0, constants.DODGE_RIGHT_SPEED, 0)
elif transitions.shouldAvoidObstacleRight(player):
# Dodge left
player.printf("Avoid by left dodge");
player.setSpeed(0, constants.DODGE_LEFT_SPEED, 0)
if not transitions.shouldAvoidObstacle(player):
player.doneAvoidingCounter += 1
else :
player.doneAvoidingCounter -= 1
player.doneAvoidingCounter = max(0, player.doneAvoidingCounter)
if player.doneAvoidingCounter > constants.DONE_AVOIDING_FRAMES_THRESH:
player.shouldAvoidObstacleRight = 0
player.shouldAvoidObstacleLeft = 0
player.stopWalking()
return player.goLater(player.lastDiffState)
return player.stay()
def avoidObstacle(player):
"""
If we detect something in front of us, dodge it
"""
if player.firstFrame():
player.doneAvoidingCounter = 0
player.printf(player.brain.sonar)
player.brain.CoA.setRobotGait(player.brain.motion)
if (transitions.shouldAvoidObstacleLeft(player)
and transitions.shouldAvoidObstacleRight(player)):
# Backup
player.printf("Avoid by backup")
player.setWalk(constants.DODGE_BACK_SPEED, 0, 0)
elif transitions.shouldAvoidObstacleLeft(player):
# Dodge right
player.printf("Avoid by right dodge")
player.setWalk(0, constants.DODGE_RIGHT_SPEED, 0)
elif transitions.shouldAvoidObstacleRight(player):
# Dodge left
player.printf("Avoid by left dodge")
player.setWalk(0, constants.DODGE_LEFT_SPEED, 0)
if not transitions.shouldAvoidObstacle(player):
player.doneAvoidingCounter += 1
else:
player.doneAvoidingCounter -= 1
player.doneAvoidingCounter = max(0, player.doneAvoidingCounter)
if player.doneAvoidingCounter > constants.DONE_AVOIDING_FRAMES_THRESH:
player.shouldAvoidObstacleRight = 0
player.shouldAvoidObstacleLeft = 0
player.stopWalking()
return player.goLater(player.lastDiffState)
return player.stay()
def shouldAvoidObstacle(player):
return ChaseBallTransitions.shouldAvoidObstacle(player) and \
(player.brain.nav.currentState == 'omniWalkToPoint' or
player.brain.nav.currentState == 'walkStraightToPoint')
def shouldAvoidObstacle(player):
return ChaseBallTransitions.shouldAvoidObstacle(player) and \
(player.brain.nav.currentState == 'omniWalkToPoint' or
player.brain.nav.currentState == 'walkStraightToPoint')
