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 approachBall(player):
"""
Once we are aligned with the ball, approach it
"""
# Switch to other states if we should
if player.penaltyKicking and \
player.brain.ball.inOppGoalBox():
return player.goNow('penaltyBallInOppGoalbox')
elif player.brain.tracker.activeLocOn:
if transitions.shouldScanFindBallActiveLoc(player):
return player.goLater('scanFindBall')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif player.brain.play.isRole(GOALIE) and goalTran.dangerousBall(player):
return player.goNow('approachDangerousBall')
elif transitions.shouldDribble(player):
return player.goNow('dribble')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
if player.firstFrame():
player.brain.nav.chaseBall()
player.hasAlignedOnce = False
player.brain.tracker.trackBall()
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 followPotentialField(player):
"""
This state is based on electric field potential vector paths. The ball is treated as an
attractive force where on the side that will be kicked. The opposite side is treated as
a repulsive force of smaller magnitude.
"""
if player.brain.nav.dodging:
return player.stay()
if player.firstFrame():
player.brain.tracker.trackBall()
ball = player.brain.ball
heading = player.brain.loc.h
relH = player.decider.normalizeAngle(player.kick.setupH - heading)
if (transitions.shouldPositionForKick(player, ball, relH)):
player.brain.nav.stand()
destinationX = player.kick.destinationX
destinationY = player.kick.destinationY
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
player.kick.destinationX = destinationX
player.kick.destinationY = destinationY
return player.goNow('positionForKick')
else:
attractorX = ball.rel_x - constants.ATTRACTOR_BALL_DIST*cos(radians(heading - player.kick.setupH))
attractorY = ball.rel_y - constants.ATTRACTOR_BALL_DIST*sin(-radians(heading - player.kick.setupH))
attractorDist = (attractorX**2 + attractorY**2)**.5
if attractorDist == 0:
attractorDist = .00000000001
repulsorX = ball.rel_x - constants.REPULSOR_BALL_DIST*cos(radians(heading - player.kick.setupH))
repulsorY = ball.rel_y - constants.REPULSOR_BALL_DIST*sin(-radians(heading - player.kick.setupH))
repulsorDist = (repulsorX**2 + repulsorY**2)**.5
if repulsorDist == 0:
repulsorDist = .00000000001
# super position of an attractive potential field and arepulsive one
xComp = constants.ATTRACTOR_REPULSOR_RATIO*attractorX/attractorDist**3 - repulsorX/repulsorDist**3
yComp = constants.ATTRACTOR_REPULSOR_RATIO*attractorY/attractorDist**3 - repulsorY/repulsorDist**3
if xComp == 0 and yComp == 0:
player.setWalk(0, 0, copysign(MAX_SPEED, ball.bearing_deg))
else:
normalizer = Navigator.FAST_SPEED/(xComp**2 + yComp**2)**.5
if fabs(ball.bearing_deg) < 2*constants.FACING_KICK_ACCEPTABLE_BEARING:
hComp = 0
elif attractorDist < constants.CLOSE_TO_ATTRACTOR_DIST:
hComp = copysign(Navigator.FAST_SPEED, ball.bearing_deg)
else:
hComp = copysign(Navigator.MEDIUM_SPEED, ball.bearing_deg)
player.setWalk(normalizer*xComp, normalizer*yComp, hComp)
return player.stay()
def followPotentialField(player):
"""
This state is based on electric field potential vector paths. The ball is treated as an
attractive force where on the side that will be kicked. The opposite side is treated as
a repulsive force of smaller magnitude.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
ball = player.brain.ball
heading = player.brain.loc.h
relH = player.decider.normalizeAngle(player.kick.setupH - heading)
if (transitions.shouldPositionForKick(player, ball, relH)):
destinationX = player.kick.destinationX
destinationY = player.kick.destinationY
player.kick = kicks.chooseAlignedKickFromKick(player, player.kick)
player.kick.destinationX = destinationX
player.kick.destinationY = destinationY
return player.goNow('positionForKick')
else:
attractorX = ball.rel_x - constants.ATTRACTOR_BALL_DIST * cos(
radians(heading - player.kick.setupH))
attractorY = ball.rel_y - constants.ATTRACTOR_BALL_DIST * sin(
-radians(heading - player.kick.setupH))
attractorDist = (attractorX**2 + attractorY**2)**.5
if attractorDist == 0:
attractorDist = .00000000001
repulsorX = ball.rel_x - constants.REPULSOR_BALL_DIST * cos(
radians(heading - player.kick.setupH))
repulsorY = ball.rel_y - constants.REPULSOR_BALL_DIST * sin(
-radians(heading - player.kick.setupH))
repulsorDist = (repulsorX**2 + repulsorY**2)**.5
if repulsorDist == 0:
repulsorDist = .00000000001
# super position of an attractive potential field and arepulsive one
xComp = constants.ATTRACTOR_REPULSOR_RATIO * attractorX / attractorDist**3 - repulsorX / repulsorDist**3
yComp = constants.ATTRACTOR_REPULSOR_RATIO * attractorY / attractorDist**3 - repulsorY / repulsorDist**3
if xComp == 0 and yComp == 0:
player.setWalk(0, 0, 0)
else:
normalizer = Navigator.FAST_SPEED / (xComp**2 + yComp**2)**.5
if ball.bearing_deg > constants.SHOULD_SPIN_TO_BALL_BEARING / 2:
hComp = copysign(Navigator.GRADUAL_SPEED, ball.bearing_deg)
else:
hComp = copysign(Navigator.GRADUAL_SPEED, ball.bearing_deg)
player.setWalk(normalizer * xComp, normalizer * yComp, hComp)
return player.stay()
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 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 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 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 dribble(player):
"""
Keep running at the ball, but dribble
"""
if player.firstFrame():
player.brain.nav.dribble()
# 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.shouldPositionForKick(player):
return player.goNow('positionForKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
return player.stay()
def goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
# Check in order of importance
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
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 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 chase(player):
"""
Super State to determine what to do from various situations
"""
player.isChasing = True
player.hasAlignedOnce = False
if player.brain.play.isRole(GOALIE):
return player.goNow('goalieChase')
# Check in order of importance
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
def goalieChase(player):
"""
TODO: make goalie more aggressive (different transitions?)
"""
# Check in order of importance
#tells the goalie what state its in
if player.firstFrame():
player.isChasing = True
player.isPositioning = False
player.isSaving = False
if transitions.shouldScanFindBall(player):
return player.goNow('scanFindBall')
elif transitions.shouldSpinToBallClose(player):
return player.goNow('spinToBallClose')
elif transitions.shouldStopBeforeKick(player):
return player.goNow('stopBeforeKick')
elif transitions.shouldPositionForKick(player):
return player.goNow('decideKick')
elif transitions.shouldApproachBall(player):
return player.goNow('approachBall')
else:
return player.goNow('scanFindBall')
