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 approachBallWalk(player):
"""
Method that is used by both approach ball and dribble
We use things as to when we should leave and how we should walk
"""
if player.brain.playbook.role != pbc.GOALIE:
if transitions.shouldNotGoInBox(player):
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
return player.goLater('chaseAroundBox')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
return player.goLater('avoidObstacle')
# Determine our speed for approaching the ball
ball = player.brain.ball
if player.brain.playbook.role == pbc.GOALIE and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
sX = MyMath.clip(ball.dist*constants.APPROACH_X_GAIN,
constants.MIN_APPROACH_X_SPEED,
constants.MAX_APPROACH_X_SPEED)
else :
sX = constants.MAX_APPROACH_X_SPEED
# Determine the speed to turn to the ball
sTheta = MyMath.clip(ball.bearing*constants.APPROACH_SPIN_GAIN,
-constants.APPROACH_SPIN_SPEED,
constants.APPROACH_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
sTheta = 0.0
# Set our walk towards the ball
if ball.on:
player.setSpeed(sX,0,sTheta)
return player.stay()
def approachBallWalk(player):
"""
Method that is used by both approach ball and dribble
We use things as to when we should leave and how we should walk
"""
if not player.brain.play.isRole(GOALIE):
if transitions.shouldNotGoInBox(player):
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
return player.goLater('chaseAroundBox')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
return player.goLater('avoidObstacle')
# Determine our speed for approaching the ball
ball = player.brain.ball
if player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
sX = MyMath.clip(ball.dist * constants.APPROACH_X_GAIN,
constants.MIN_APPROACH_X_SPEED,
constants.MAX_APPROACH_X_SPEED)
else:
sX = constants.MAX_APPROACH_X_SPEED
# Determine the speed to turn to the ball
sTheta = MyMath.clip(ball.bearing * constants.APPROACH_SPIN_GAIN,
-constants.APPROACH_SPIN_SPEED,
constants.APPROACH_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
sTheta = 0.0
# Set our walk towards the ball
if ball.on:
player.setWalk(sX, 0, sTheta)
return player.stay()
def approachBallWithLoc(player):
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.hasAlignedOnce = False
nav = player.brain.nav
my = player.brain.my
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
else:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif transitions.shouldNotGoInBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('chaseAroundBox')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('avoidObstacle')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else :
player.brain.tracker.trackBall()
dest = player.getApproachPosition()
useOmni = MyMath.dist(my.x, my.y, dest[0], dest[1]) <= \
constants.APPROACH_OMNI_DIST
changedOmni = False
if useOmni != nav.movingOmni:
player.changeOmniGoToCounter += 1
else :
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > PositionConstants.CHANGE_OMNI_THRESH:
changedOmni = True
if player.firstFrame() or \
nav.destX != dest[0] or \
nav.destY != dest[1] or \
nav.destH != dest[2] or \
changedOmni:
if not useOmni:
player.brain.CoA.setRobotGait(player.brain.motion)
nav.goTo(dest)
else:
player.brain.CoA.setRobotSlowGait(player.brain.motion)
nav.omniGoTo(dest)
return player.stay()
def approachBallWithLoc(player):
if player.firstFrame():
player.brain.CoA.setRobotGait(player.brain.motion)
player.hasAlignedOnce = False
nav = player.brain.nav
my = player.brain.my
if player.brain.play.isRole(GOALIE):
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
else:
if transitions.shouldKick(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKickFromApproachLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('positionForKick')
elif transitions.shouldNotGoInBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('ballInMyBox')
elif transitions.shouldChaseAroundBox(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('chaseAroundBox')
elif transitions.shouldAvoidObstacleDuringApproachBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('avoidObstacle')
elif my.locScoreFramesBad > constants.APPROACH_NO_LOC_THRESH:
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('approachBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
elif player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBallActiveLoc(player):
player.brain.CoA.setRobotGait(player.brain.motion)
return player.goLater('scanFindBall')
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
dest = player.getApproachPosition()
useOmni = my.dist(dest) <= \
constants.APPROACH_OMNI_DIST
changedOmni = False
if useOmni != nav.movingOmni():
player.changeOmniGoToCounter += 1
else:
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > PositionConstants.CHANGE_OMNI_THRESH:
changedOmni = True
if player.firstFrame() or \
nav.dest != dest or \
changedOmni:
if not useOmni:
player.brain.CoA.setRobotGait(player.brain.motion)
nav.goTo(dest)
else:
player.brain.CoA.setRobotSlowGait(player.brain.motion)
nav.omniGoTo(dest)
return player.stay()
