def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we our switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we our switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBallWithLoc(player):
return player.goNow('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goNow('turnToBall')
else:
return player.goNow('scanFindBall')
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 turnToBall(player):
"""
Rotate to align with the ball. When we get close, we will approach it
"""
ball = player.brain.ball
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
# Determine the speed to turn to the ball
turnRate = MyMath.clip(ball.bearing * constants.BALL_SPIN_GAIN,
-constants.BALL_SPIN_SPEED,
constants.BALL_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(turnRate) < constants.MIN_BALL_SPIN_MAGNITUDE:
turnRate = MyMath.sign(turnRate) * constants.MIN_BALL_SPIN_MAGNITUDE
if ball.on:
player.setWalk(x=0, y=0, theta=turnRate)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
return player.stay()
def approachBall(player):
"""
Once we are aligned with the ball, approach it
"""
if player.firstFrame():
player.brain.nav.chaseBall()
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
# Switch to other states if we should
if player.penaltyKicking and \
player.brain.ball.inOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
elif player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
elif transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldKick(player) or \
transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldSpinFindBallAgain(player):
return player.goLater('spinFindBall')
return player.stay()
def turnToBall(player):
"""
Rotate to align with the ball. When we get close, we will approach it
"""
ball = player.brain.ball
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
# Determine the speed to turn to the ball
turnRate = MyMath.clip(ball.bearing*constants.BALL_SPIN_GAIN,
-constants.BALL_SPIN_SPEED,
constants.BALL_SPIN_SPEED)
# Avoid spinning so slowly that we step in place
if fabs(turnRate) < constants.MIN_BALL_SPIN_MAGNITUDE:
turnRate = MyMath.sign(turnRate)*constants.MIN_BALL_SPIN_MAGNITUDE
if ball.on:
player.setSpeed(x=0,y=0,theta=turnRate)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goLater('approachBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('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 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 goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
else:
return player.goNow('scanFindBall')
def approachBall(player):
"""
Once we are alligned with the ball, approach it
"""
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
if player.penaltyKicking and \
player.ballInOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
# Switch to other states if we should
if player.brain.play.isRole(GOALIE):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
else:
if transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
return approachBallWalk(player)
def approachBall(player):
"""
Once we are alligned with the ball, approach it
"""
if player.firstFrame():
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
player.brain.CoA.setRobotGait(player.brain.motion)
#if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
if transitions.shouldActiveLoc(player):
player.brain.tracker.activeLoc()
else :
player.brain.tracker.trackBall()
if player.penaltyKicking and \
player.ballInOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
# Switch to other states if we should
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldTurnToBall_ApproachBall(player):
return player.goLater('turnToBall')
elif not player.brain.tracker.activeLocOn and \
transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
else:
if transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
return approachBallWalk(player)
def positionForKick(player):
"""
State to align on the ball once we are near it
"""
if player.firstFrame():
kick = player.brain.kickDecider.kickInfo.getKick()
player.brain.kickDecider.currentKick = kick
if kick is None:
player.angleToOrbit = player.brain.kickDecider.kickInfo.orbitAngle
return player.goLater('orbitBall')
player.brain.kickDecider.kickInfo = \
KickInformation.KickInformation(player)
player.brain.nav.kickPosition(kick)
player.inKickingState = True
player.ballTooFar = 0
player.brain.tracker.trackBall()
# something has gone wrong, maybe the ball was moved?
if (player.brain.ball.dist > PFK_BALL_CLOSE_ENOUGH or
player.brain.ball.framesOff > PFK_BALL_VISION_FRAMES):
player.ballTooFar += 1
if player.ballTooFar > BUFFER_FRAMES_THRESHOLD:
return player.goNow('chase')
else:
player.ballTooFar = 0
# Leave this state if necessary
if transitions.shouldKick(player):
return player.goNow('kickBallExecute')
if player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
player.inKickingState = False
return player.goLater('scanFindBall')
else:
if transitions.shouldScanFindBall(player):
player.inKickingState = False
return player.goLater('scanFindBall')
if transitions.shouldApproachFromPositionForKick(player):
player.inKickingState = False
return player.goLater('approachBall')
if not player.brain.play.isRole(GOALIE):
if transitions.shouldDribble(player):
return player.goNow('dribble')
return player.stay()
def penaltyKickShortDribble(player):
if player.firstFrame():
player.penaltyMadeFirstKick = True
if transitions.shouldStopPenaltyKickDribbling(player):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return ChaseBallStates.approachBallWalk(player)
def penaltyKickShortDribble(player):
if player.firstFrame():
player.penaltyMadeFirstKick = True
if transitions.shouldStopPenaltyKickDribbling(player):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return ChaseBallStates.approachBallWalk(player)
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()
def dribble(player):
"""
Keep running at the ball, but dribble
"""
if player.firstFrame():
player.brain.CoA.setRobotDribbleGait(player.brain.motion)
# if we should stop dribbling, see what else we should do
if transitions.shouldStopDribbling(player):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return approachBallWalk(player)
def dribble(player):
"""
Keep running at the ball, but dribble
"""
if player.firstFrame():
player.brain.CoA.setRobotDribbleGait(player.brain.motion)
# if we should stop dribbling, see what else we should do
if transitions.shouldStopDribbling(player):
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return approachBallWalk(player)
def chase(player):
"""
Method to determine which chase state should be used.
We dump the robot into this state when we are switching from something else.
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
return player.goNow('goalieChase')
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
elif transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
else:
return player.goNow('scanFindBall')
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()
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()
