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 walk to look for it
"""
if transitions.shouldChaseBall(player):
player.stopWalking()
player.brain.tracker.trackBall()
return player.goLater('findBall')
if player.firstFrame():
player.brain.tracker.stopHeadMoves()
player.stopWalking()
if player.brain.nav.isStopped() and player.brain.tracker.isStopped():
my = player.brain.loc
ball = Location(player.brain.ball.x, player.brain.ball.y)
spinDir = my.spinDirToPoint(ball)
player.setWalk(0, 0, spinDir*constants.FIND_BALL_SPIN_SPEED)
player.brain.tracker.spinPan()
if ((player.brain.play.isChaser() and transitions.shouldWalkFindBall(player))
or (not player.brain.play.isChaser() and transitions.spunOnce(player))):
return player.goLater('playbookPosition')
return player.stay()
def positionPlaying(player):
"""
Game Playing positioning
"""
if player.firstFrame():
player.brain.nav.positionPlaybook()
player.brain.tracker.repeatBasicPan() # TODO Landmarks
if player.brain.ball.vis.on and player.brain.ball.distance < 100:
player.brain.tracker.trackBall()
else:
player.brain.tracker.repeatBasicPan() # TODO Landmarks
if player.brain.nav.isAtPosition():
player.brain.tracker.trackBall()
if player.brain.play.isChaser() and transitions.shouldChaseBall(player):
return player.goLater('chase')
if transitions.shouldFindBallPosition(player):
return player.goLater('findBall')
if player.brain.locUncert > 75:
# Find some goalposts (preferably close ones) and walk toward them.
pass
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 walk to look for it
"""
if transitions.shouldChaseBall(player):
player.stopWalking()
player.brain.tracker.trackBall()
return player.goNow('findBall')
if player.firstFrame():
player.brain.tracker.stopHeadMoves()
if player.brain.nav.isStopped() and player.brain.tracker.isStopped():
my = player.brain.my
ball = player.brain.ball
spinDir = my.spinDirToPoint(ball.loc)
player.setWalk(0, 0, spinDir*constants.FIND_BALL_SPIN_SPEED)
player.brain.tracker.trackBallSpin()
if not player.brain.play.isRole(GOALIE):
if transitions.shouldWalkFindBall(player):
return player.goLater('walkFindBall')
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 walk to look for it
"""
if transitions.shouldChaseBall(player):
player.stopWalking()
player.brain.tracker.trackBall()
return player.goNow('findBall')
if player.firstFrame():
player.brain.tracker.stopHeadMoves()
if player.brain.nav.isStopped() and player.brain.tracker.isStopped():
my = player.brain.loc
ball = Location(player.brain.ball.x, player.brain.ball.y)
spinDir = my.spinDirToPoint(ball)
player.setWalk(0, 0, spinDir * constants.FIND_BALL_SPIN_SPEED)
player.brain.tracker.spinPan()
if transitions.shouldWalkFindBall(player):
return player.goLater('walkFindBall')
return player.stay()
def findBall(player):
"""
State to stop all activity and begin finding the ball
"""
if transitions.shouldChaseBall(player):
if not player.brain.play.isChaser():
return player.goLater('playbookPosition')
else:
return player.goLater('chase')
return player.goNow('spinFindBall')
def findBall(player):
"""
State to stop all activity and begin finding the ball
"""
if transitions.shouldChaseBall(player):
return player.goLater('chase')
if player.firstFrame():
player.stopWalking()
player.brain.tracker.stopHeadMoves()
if player.brain.nav.isStopped():
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
mppove to align on it. If we don't find it, we spin to keep looking
"""
player.brain.tracker.trackBall()
if transitions.shouldChaseBall(player):
return player.goNow('findBall')
# a time based check.
if transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
return player.stay()
def scanFindBall(player):
"""
State to move the head to find the ball. If we find the ball, we
mppove to align on it. If we don't find it, we spin to keep looking
"""
player.brain.tracker.trackBall()
if transitions.shouldChaseBall(player):
return player.goNow('findBall')
# a time based check.
if transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
return player.stay()
def penaltyKickShortDribble(player):
"""
Acts as a layer above dribble for penalty shots.
"""
if player.firstFrame():
player.penaltyMadeFirstKick = True
if transitions.shouldStopPenaltyKickDribbling(player):
if transitions.shouldStopBeforeKick(player):
return player.goLater("chase")
elif transitions.shouldPositionForKick(player):
return player.goLater("positionForKick")
elif transitions.shouldChaseBall(player):
return player.goLater("chase")
return player.goLater("dribble")
def scanFindBall(player):
"""
State to move the head to find the ball. If we find the ball, we
mppove to align on it. If we don't find it, we spin to keep looking
"""
player.brain.tracker.trackBall()
if transitions.shouldChaseBall(player):
return player.goNow('findBall')
# 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.goLater('spinFindBall')
return player.stay()
def scanFindBall(player):
"""
State to move the head to find the ball. If we find the ball, we
mppove to align on it. If we don't find it, we spin to keep looking
"""
player.brain.tracker.trackBallFixedPitch()
if transitions.shouldChaseBall(player):
return player.goNow('findBall')
# 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.goLater('spinFindBall')
return player.stay()
def walkFindBall(player):
"""
State to walk to find the ball. If we find the ball we chase it.
"""
if transitions.shouldChaseBall(player):
player.stopWalking()
player.brain.tracker.trackBall()
return player.goNow('chase')
if player.brain.nav.isStopped():
player.brain.nav.chaseBall()
player.brain.tracker.trackBall()
if transitions.shouldSpinFindBallAgain(player):
return player.goLater('spinFindBall')
return player.stay()
def findBall(player):
"""
State to stop all activity and begin finding the ball
"""
if transitions.shouldChaseBall(player):
if not player.brain.play.isChaser():
return player.goLater('playbookPosition')
else:
return player.goLater('chase')
if player.firstFrame():
player.stand()
player.brain.tracker.stopHeadMoves()
if player.brain.nav.isStopped():
return player.goLater('scanFindBall')
return player.stay()
def afterPenalty(player):
if player.firstFrame():
# pan for the ball
player.brain.tracker.repeatWidePan()
# walk towards your own field cross
player.brain.nav.walkTo(RelRobotLocation(200,0,0))
if transitions.shouldChaseBall(player):
if not player.brain.play.isChaser():
return player.goLater('playbookPosition')
else:
return player.goLater('chase')
# TODO: Make this work for two yellow goals & resetLoc to one place?
# Would be great if loc worked. Hacked out for US OPEN 2012
"""
if not player.brain.motion.head_is_active:
##looking to the side
if player.brain.yglp.on or player.brain.ygrp.on:
#see the goal posts in multiple frames for safety
seeYellow(player)
if player.yellowCount >= OBJ_SEEN_THRESH:
setLocInfo(player)
#now you know where you are!
return player.goLater(gcState)
if player.brain.bglp.vis.on or player.brain.bgrp.vis.on:
#see the goal posts in multiple frames for safety
seeBlue(player)
if player.blueCount >= OBJ_SEEN_THRESH:
setLocInfo(player)
#now you know where you are!
return player.goLater(gcState)
player.headCount += 1
"""
# If done walking forward, start relocalizing normally
if player.brain.nav.isStopped() or player.counter > 250:
player.brain.nav.stop()
return player.goLater('findBall')
return player.stay()
def afterPenalty(player):
if player.firstFrame():
# pan for the ball
player.brain.tracker.repeatWidePanFixedPitch()
# walk towards your own field cross
player.brain.nav.walkTo(RelRobotLocation(200, 0, 0))
if transitions.shouldChaseBall(player):
if not player.brain.play.isChaser():
return player.goLater('playbookPosition')
else:
return player.goLater('chase')
# Would be great if loc worked. Hacked out for US OPEN 2012
"""
if not player.brain.motion.isHeadActive():
##looking to the side
if player.brain.yglp.vis.on or player.brain.ygrp.vis.on:
#see the goal posts in multiple frames for safety
seeYellow(player)
if player.yellowCount >= OBJ_SEEN_THRESH:
setLocInfo(player)
#now you know where you are!
return player.goLater(gcState)
if player.brain.bglp.vis.on or player.brain.bgrp.vis.on:
#see the goal posts in multiple frames for safety
seeBlue(player)
if player.blueCount >= OBJ_SEEN_THRESH:
setLocInfo(player)
#now you know where you are!
return player.goLater(gcState)
player.headCount += 1
"""
# If done walking forward, start relocalizing normally
if player.brain.nav.isStopped() or player.counter > 250:
player.brain.nav.stop()
return player.goLater('findBall')
return player.stay()
def postPenaltyChaser(player):
"""
If we come out of penalty directly into chaser, we'll waste
time spinning on the side of the field. Instead, if we didn't
see the ball during afterPenalty, odometry walk onto the field
before spinning.
"""
if player.firstFrame():
player.brain.nav.walkTo(RelRobotLocation(200,0,0))
player.brain.tracker.trackBall()
elif (player.brain.nav.isStopped() or
transitions.shouldChaseBall(player)):
return player.goLater('chase')
if not player.brain.play.isChaser():
# We've role switched out naturally. Go to appropriate state.
player.stopWalking() # walkTo is a bit dangerous. do this to be careful.
return player.goLater('playbookPosition')
return player.stay()
def dribble(player):
"""
Keep running at the ball, but dribble
"""
if player.firstFrame():
player.brain.nav.dribble()
if transitions.shouldScanFindBallKick(player):
return player.goLater('scanFindBall')
# 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.shouldStopBeforeKick(player):
return player.goLater('stopBeforeKick')
if transitions.shouldPositionForKick(player):
return player.goLater('decideKick')
elif transitions.shouldChaseBall(player):
return player.goLater('chase')
return player.stay()
def positionPlaying(player):
"""
Game Playing positioning
"""
if player.firstFrame():
player.brain.nav.positionPlaybook()
player.brain.tracker.trackBall()
if player.brain.play.isChaser() and transitions.shouldChaseBall(player):
return player.goLater('chase')
if transitions.shouldFindBallPosition(player):
#return player.goLater('findBall')
pass
if player.brain.locUncert > 75:
# Find some goalposts (preferably close ones) and walk toward them.
pass
return player.stay()
def positionPlaying(player):
"""
Game Playing positioning
"""
if player.firstFrame():
player.brain.tracker.trackBall()
if player.usingBoxPositions:
return player.goLater('positionAtHome')
if player.brain.play.isChaser() and transitions.shouldChaseBall(player):
return player.goLater('chase')
if transitions.shouldFindBallPosition(player):
#return player.goLater('findBall')
pass
if player.brain.locUncert > 75:
# Find some goalposts (preferably close ones) and walk toward them.
pass
return player.stay()
def walkFindBall(player):
"""
State to walk to find the ball. If we find the ball we chase it.
"""
if player.firstFrame():
player.stopWalking()
# Do a slow pan
player.brain.tracker.repeatWidePan()
if transitions.shouldChaseBall(player):
player.stopWalking()
player.brain.tracker.trackBall()
return player.goNow('findBall')
if player.brain.nav.isStopped():
player.brain.nav.chaseBall()
if transitions.shouldSpinFindBallAgain(player):
return player.goLater('spinFindBall')
return player.stay()
def walkFindBall(player):
"""
State to walk to find the ball. If we find the ball we chase it.
"""
if player.firstFrame():
player.stopWalking()
# Do a slow pan
player.brain.tracker.repeatWidePanFixedPitch()
if transitions.shouldChaseBall(player):
player.stopWalking()
player.brain.tracker.trackBallFixedPitch()
return player.goNow('findBall')
if player.brain.nav.isStopped():
player.brain.nav.chaseBall()
if transitions.shouldSpinFindBallAgain(player):
return player.goLater('spinFindBall')
return player.stay()
def postPenaltyChaser(player):
"""
If we come out of penalty directly into chaser, we'll waste
time spinning on the side of the field. Instead, if we didn't
see the ball during afterPenalty, odometry walk onto the field
before spinning.
"""
if player.firstFrame():
player.brain.nav.walkTo(RelRobotLocation(200,0,0))
player.brain.tracker.trackBall()
elif (player.brain.nav.isStopped() or
transitions.shouldChaseBall(player)):
return player.goLater('chase')
if not player.brain.play.isChaser():
# We've role switched out naturally. Go to appropriate state.
player.stopWalking() # walkTo is a bit dangerous. do this to be careful.
if player.usingBoxPositions:
return player.goLater('positionAtHome')
return player.goLater('playbookPosition')
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
"""
player.stopWalking()
player.brain.tracker.trackBall()
if transitions.shouldChaseBall(player):
return player.goNow('chase')
# 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.goLater('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()
