def orbitBall(player):
"""
State to orbit the ball
"""
if player.firstFrame():
player.brain.nav.orbitAngle(player.angleToOrbit)
player.brain.tracker.trackBall()
if transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
if transitions.shouldChaseFromPositionForKick(player):
return player.goLater('chase')
elif player.brain.nav.isStopped():
return player.goLater('chase')
return player.stay()
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
kick = player.brain.kickDecider.getKick()
if kick is None:
player.angleToOrbit = player.brain.kickDecider.kickInfo.orbitAngle
return player.goLater('orbitBall')
player.inKickingState = True
if transitions.shouldKickNow(player):
return player.goLater('kickBallExecute')
player.brain.nav.kickPosition(kick)
player.brain.tracker.trackBall()
# Leave this state if necessary
if transitions.shouldStopAndKick(player):
return player.goLater('preKickStop')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
player.inKickingState = False
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBallKick(player):
player.inKickingState = False
return player.goLater('scanFindBall')
elif transitions.shouldSpinToKick(player):
return player.goLater('spinToKick')
if transitions.shouldChaseFromPositionForKick(player):
player.inKickingState = False
return player.goLater('chase')
if not player.brain.play.isRole(GOALIE):
if transitions.shouldDribble(player):
return player.goLater('dribble')
if player.brain.nav.isStopped():
kick = player.brain.kickDecider.getKick()
player.brain.nav.kickPosition(kick)
return player.stay()
