def dribble(player):
if transitions.shouldNotDribble(player):
if player.lastDiffState == 'orbitBall':
return player.goNow('approachBall')
return player.goNow('orbitBall')
ball = player.brain.ball
relH = player.decider.normalizeAngle(player.brain.loc.h)
if ball.distance < constants.LINE_UP_X and not (relH > -constants.ORBIT_GOOD_BEARING and
relH < constants.ORBIT_GOOD_BEARING):
player.setWalk(0, 0, 0)
return player.goLater('orbitBall')
if player.brain.ball.vis == True:
if transitions.inGoalBox(player):
player.brain.nav.walk(0.8, 0, 0)
else:
player.brain.nav.goTo(Location(ball.x, ball.y), Navigator.GENERAL_AREA, speeds.SPEED_SIX)
else:
player.brain.nav.walk(0.6, 0, 0)
return player.stay()
def dribble(player):
if transitions.shouldNotDribble(player):
if player.lastDiffState == 'orbitBall':
return player.goNow('approachBall')
return player.goNow('orbitBall')
ball = player.brain.ball
relH = player.decider.normalizeAngle(player.brain.loc.h)
if ball.distance < constants.LINE_UP_X and not (
relH > -constants.ORBIT_GOOD_BEARING
and relH < constants.ORBIT_GOOD_BEARING):
player.setWalk(0, 0, 0)
return player.goLater('orbitBall')
if player.brain.ball.vis == True:
if transitions.inGoalBox(player):
player.brain.nav.walk(0.8, 0, 0)
else:
player.brain.nav.goTo(Location(ball.x, ball.y),
Navigator.GENERAL_AREA, speeds.SPEED_SIX)
else:
player.brain.nav.walk(0.6, 0, 0)
return player.stay()
def orbitBall(player):
"""
State to orbit the ball. Uses two PID controllers!
"""
if player.firstFrame():
orbitBall.xController.reset()
orbitBall.hController.reset()
if player.brain.nav.dodging:
return player.stay()
# Calculate relative heading every frame
relH = player.decider.normalizeAngle(player.kick.setupH -
player.brain.loc.h)
# Check if within the acceptable heading range
if (relH > -constants.ORBIT_GOOD_BEARING
and relH < constants.ORBIT_GOOD_BEARING):
print "STOPPED! RelH: ", relH
destinationX = player.kick.destinationX
destinationY = player.kick.destinationY
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
player.kick.destinationX = destinationX
player.kick.destinationY = destinationY
player.setWalk(0, 0, 0)
# return player.goLater('positionForKick')
if transitions.shouldNotDribble(player):
return player.goNow('positionForKick')
return player.goNow('dribble')
if (transitions.orbitTooLong(player)
or transitions.orbitBallTooFar(player)):
return player.goLater('approachBall')
# Orbit in correct direction at constant speed
ySpeed = min(constants.ORBIT_Y_SPEED,
fabs(orbitBall.yController.correct(relH)))
if relH > 0: ySpeed = -ySpeed
ySpeed = ySpeed * 1.5
# Calculate corrections in x and h using PID controller
xError = player.brain.ball.distance - constants.ORBIT_X
hError = player.brain.ball.bearing
xSpeedCorrect = orbitBall.xController.correct(xError)
hSpeedCorrect = orbitBall.hController.correct(hError)
hSpeedCorrect = hSpeedCorrect * 1.3
# Set walk vector
player.setWalk(xSpeedCorrect, ySpeed, hSpeedCorrect)
if constants.DEBUG_ORBIT:
print "ORBIT DEBUG:"
print xError
print hError
print xSpeedCorrect
print hSpeedCorrect
return player.stay()
def orbitBall(player):
"""
State to orbit the ball. Uses two PID controllers!
"""
if player.firstFrame():
orbitBall.xController.reset()
orbitBall.hController.reset()
if player.brain.nav.dodging:
return player.stay()
# Calculate relative heading every frame
relH = player.decider.normalizeAngle(player.kick.setupH - player.brain.loc.h)
# Check if within the acceptable heading range
if (relH > -constants.ORBIT_GOOD_BEARING and
relH < constants.ORBIT_GOOD_BEARING):
print "STOPPED! RelH: ", relH
destinationX = player.kick.destinationX
destinationY = player.kick.destinationY
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
player.kick.destinationX = destinationX
player.kick.destinationY = destinationY
player.setWalk(0, 0, 0)
# return player.goLater('positionForKick')
if transitions.shouldNotDribble(player):
return player.goNow('positionForKick')
return player.goNow('dribble')
if (transitions.orbitTooLong(player) or
transitions.orbitBallTooFar(player)):
return player.goLater('approachBall')
# Orbit in correct direction at constant speed
ySpeed = min(constants.ORBIT_Y_SPEED, fabs(orbitBall.yController.correct(relH)))
if relH > 0: ySpeed = -ySpeed
ySpeed = ySpeed * 1.5
# Calculate corrections in x and h using PID controller
xError = player.brain.ball.distance - constants.ORBIT_X
hError = player.brain.ball.bearing
xSpeedCorrect = orbitBall.xController.correct(xError)
hSpeedCorrect = orbitBall.hController.correct(hError)
hSpeedCorrect = hSpeedCorrect * 1.3
# Set walk vector
player.setWalk(xSpeedCorrect, ySpeed, hSpeedCorrect)
if constants.DEBUG_ORBIT:
print "ORBIT DEBUG:"
print xError
print hError
print xSpeedCorrect
print hSpeedCorrect
return player.stay()
