def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED)
else:
player.brain.nav.chaseBall()
if (transitions.shouldFindBall(player) or
transitions.shouldSpinToBall(player)):
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player) or
player.brain.nav.isAtPosition()):
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
player.shouldKickOff = False
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED)
else:
player.brain.nav.chaseBall()
if (transitions.shouldFindBall(player)
or transitions.shouldSpinToBall(player)):
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player)
or player.brain.nav.isAtPosition()):
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
player.shouldKickOff = False
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
def approachBall(player):
if player.brain.nav.dodging:
return player.stay()
if player.firstFrame():
player.buffBoxFiltered = CountTransition(
playOffTransitions.ballNotInBufferedBox, 0.8, 10)
player.brain.tracker.trackBall()
if player.shouldKickOff:
if player.inKickOffPlay:
return player.goNow('giveAndGo')
else:
return player.goNow('positionAndKickBall')
elif player.penaltyKicking:
return player.goNow('prepareForPenaltyKick')
else:
player.brain.nav.chaseBall(MAX_SPEED, fast=True)
if (transitions.shouldPrepareForKick(player)
or player.brain.nav.isAtPosition()):
return player.goNow('positionAndKickBall')
elif transitions.shouldDecelerate(player):
player.brain.nav.chaseBall(MIN_SPEED, fast=True)
else:
player.brain.nav.chaseBall(MAX_SPEED, fast=True)
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED, fast=True)
elif player.penaltyKicking:
return player.goNow("prepareForPenaltyKick")
else:
player.brain.nav.chaseBall(fast=True)
# if (transitions.shouldFindBall(player)):
# return player.goLater('chase')
# goalCenter = Location(nogginConstants.FIELD_WHITE_RIGHT_SIDELINE_X,
# nogginConstants.CENTER_FIELD_Y)
# ballLocation = Location(player.brain.ball.x, player.brain.ball.y)
# headingBallToGoalCenter = ballLocation.headingTo(goalCenter)
# print "headingBallToGoalCenter: ", headingBallToGoalCenter
# return player.stay()
if transitions.shouldPrepareForKick(player) or player.brain.nav.isAtPosition():
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
return player.goNow("positionForKick")
else:
return player.goNow("prepareForKick")
else:
return player.stay()
def approachBall(player):
if player.brain.nav.dodging:
return player.stay()
if player.firstFrame():
player.buffBoxFiltered = CountTransition(playOffTransitions.ballNotInBufferedBox,
0.8, 10)
player.brain.tracker.trackBall()
if player.shouldKickOff:
if player.inKickOffPlay:
return player.goNow('giveAndGo')
else:
return player.goNow('positionAndKickBall')
elif player.penaltyKicking:
return player.goNow('prepareForPenaltyKick')
else:
player.brain.nav.chaseBall(MAX_SPEED, fast = True)
if (transitions.shouldPrepareForKick(player) or
player.brain.nav.isAtPosition()):
return player.goNow('positionAndKickBall')
elif transitions.shouldDecelerate(player):
player.brain.nav.chaseBall(MIN_SPEED, fast = True)
else:
player.brain.nav.chaseBall(MAX_SPEED, fast = True)
def walkToWayPoint(player):
if player.brain.nav.dodging:
return player.stay()
if player.firstFrame():
player.decider = KickDecider.KickDecider(player.brain)
player.brain.tracker.trackBall()
player.kick = player.decider.decidingStrategy()
relH = player.decider.normalizeAngle(player.kick.setupH - player.brain.loc.h)
ball = player.brain.ball
if transitions.shouldDecelerate(player):
speed = MIN_SPEED
else:
speed = MAX_SPEED
if fabs(relH) <= constants.MAX_BEARING_DIFF:
wayPoint = RobotLocation(ball.x - constants.WAYPOINT_DIST*cos(radians(player.kick.setupH)),
ball.y - constants.WAYPOINT_DIST*sin(radians(player.kick.setupH)),
player.brain.loc.h)
player.brain.nav.goTo(wayPoint, Navigator.CLOSE_ENOUGH, speed, True, fast = True)
if transitions.shouldSpinToKickHeading(player):
return player.goNow('spinToKickHeading')
else:
player.brain.nav.chaseBall(speed, fast = True)
if transitions.shouldPrepareForKick(player):
return player.goLater('positionAndKickBall')
return player.stay()
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED, fast = True)
else:
player.brain.nav.chaseBall(fast = True)
if (transitions.shouldFindBall(player)):
print "DEBUG_SUIT: In 'approachBall', shouldFindBall is True. Switching to 'chase'."
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player) or
player.brain.nav.isAtPosition()):
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
player.shouldKickOff = False
return player.goNow('positionForKick')
else:
print "DEBUG_SUITE: In 'approachBall', either shouldPrepareForKick or nav.isAtPosition is True. Not a kickoff: switching to 'prepareForKick'."
return player.goNow('prepareForKick')
else:
return player.stay()
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED, fast = True)
elif player.penaltyKicking:
return player.goNow('prepareForPenaltyKick')
else:
player.brain.nav.chaseBall(fast = True)
if transitions.shouldFindBall(player):
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player) or
player.brain.nav.isAtPosition()):
if player.brain.nav.isAtPosition():
print "isAtPosition() is causing the bug!"
else:
print "shouldPrepareForKick() is causing the bug!"
print player.brain.ball.distance
print player.brain.ball.vis.distance
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
def walkToWayPoint(player):
if player.brain.nav.dodging:
return player.stay()
if player.firstFrame():
player.decider = KickDecider.KickDecider(player.brain)
player.brain.tracker.trackBall()
player.kick = player.decider.new2016KickStrategy()
relH = player.decider.normalizeAngle(player.kick.setupH -
player.brain.loc.h)
ball = player.brain.ball
# print "In walkToWayPoint"
if transitions.shouldDecelerate(player):
# print "I should decelerate"
speed = speeds.SPEED_SIX
else:
speed = speeds.SPEED_EIGHT
if fabs(relH) <= 50: #constants.MAX_BEARING_DIFF:
wayPoint = RobotLocation(
ball.x -
constants.WAYPOINT_DIST * cos(radians(player.kick.setupH)),
ball.y -
constants.WAYPOINT_DIST * sin(radians(player.kick.setupH)),
player.brain.loc.h)
# print("Going to waypoint")
player.brain.nav.goTo(wayPoint,
Navigator.GENERAL_AREA,
speed,
True,
fast=True)
if transitions.shouldSpinToKickHeading(player):
return player.goNow('spinToKickHeading')
else:
player.brain.nav.chaseBall(speed, fast=True)
if transitions.shouldPrepareForKick(player):
return player.goLater('dribble')
return player.stay()
def approachBall(player):
if player.firstFrame():
player.buffBoxFiltered = CountTransition(playOffTransitions.ballNotInBufferedBox, 0.8, 10)
player.brain.tracker.trackBall()
if player.shouldKickOff:
if player.inKickOffPlay:
return player.goNow("giveAndGo")
else:
return player.goNow("positionAndKickBall")
elif player.penaltyKicking:
return player.goNow("prepareForPenaltyKick")
else:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED, fast=True)
if transitions.shouldPrepareForKick(player) or player.brain.nav.isAtPosition():
return player.goNow("positionAndKickBall")
def prepareForPenaltyKick(player):
"""
We're waiting here for a short time to psych out the opposing goalie,
then turn very slightly if the flag is set.
"""
if player.firstFrame():
prepareForPenaltyKick.chase = False
ball = player.brain.ball
print "player.stateTime: ", player.stateTime
#pseudo-random spin decision on which direction to kick
now = time.time()
if (int(now) % 2) == 0:
player.penaltyKickRight = True
else:
player.penaltyKickRight = False
print now
print "Kicking Right? ", player.penaltyKickRight
ball = player.brain.ball
if player.penaltyKickRight:
location = RelRobotLocation(ball.rel_x - 10, ball.rel_y + 5, 0)
else:
location = RelRobotLocation(ball.rel_x - 10, ball.rel_y - 5, 0)
player.brain.nav.goTo(location, Navigator.PRECISELY,
Navigator.MEDIUM_SPEED, False, True, False,
False)
else:
ball = player.brain.ball
if player.penaltyKickRight:
location = RelRobotLocation(ball.rel_x - 10, ball.rel_y + 5, 0)
else:
location = RelRobotLocation(ball.rel_x - 10, ball.rel_y - 5, 0)
player.brain.nav.updateDest(location)
if prepareForPenaltyKick.chase:
return player.stay()
if (transitions.shouldPrepareForKick(player)
or player.brain.nav.isAtPosition()):
print "X: ", player.brain.ball.rel_x
print "Y: ", player.brain.ball.rel_y
player.brain.nav.stand()
# prepareForPenaltyKick.chase = True
return player.goNow('penaltyKickSpin')
return player.stay()
def approachBall(player):
if player.firstFrame():
player.brain.tracker.trackBall()
player.brain.nav.chaseBall()
# most of the time going to chase will kick back to here, lets us reset
if transitions.shouldFindBall(player):
return player.goLater('chase')
if transitions.shouldPrepareForKick(player) or player.brain.nav.isAtPosition():
if player.shouldKickOff:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
player.shouldKickOff = False
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
def prepareForPenaltyKick(player):
"""
We're waiting here for a short time to psych out the opposing goalie,
then turn very slightly if the flag is set.
"""
if player.firstFrame():
prepareForPenaltyKick.chase = False
ball = player.brain.ball
print "player.stateTime: ", player.stateTime
#pseudo-random spin decision on which direction to kick
now = time.time()
if (int(now) % 2) == 0:
player.penaltyKickRight = True
else:
player.penaltyKickRight = False
print now
print "Kicking Right? ", player.penaltyKickRight
ball = player.brain.ball
if player.penaltyKickRight:
location = RelRobotLocation(ball.rel_x - 10, ball.rel_y + 5, 0)
else:
location = RelRobotLocation(ball.rel_x - 10, ball.rel_y - 5, 0)
player.brain.nav.goTo(location, Navigator.PRECISELY, Navigator.MEDIUM_SPEED,
False, True, False, False)
else:
ball = player.brain.ball
if player.penaltyKickRight:
location = RelRobotLocation(ball.rel_x - 10, ball.rel_y + 5, 0)
else:
location = RelRobotLocation(ball.rel_x - 10, ball.rel_y - 5, 0)
player.brain.nav.updateDest(location)
if prepareForPenaltyKick.chase:
return player.stay()
if (transitions.shouldPrepareForKick(player) or
player.brain.nav.isAtPosition()):
print "X: ", player.brain.ball.rel_x
print "Y: ", player.brain.ball.rel_y
player.brain.nav.stand()
# prepareForPenaltyKick.chase = True
return player.goNow('penaltyKickSpin')
return player.stay()
def walkToWayPoint(player):
if player.brain.nav.dodging:
return player.stay()
if player.firstFrame():
player.decider = KickDecider.KickDecider(player.brain)
player.brain.tracker.trackBall()
player.kick = player.decider.decidingStrategy()
relH = player.decider.normalizeAngle(player.kick.setupH -
player.brain.loc.h)
ball = player.brain.ball
if transitions.shouldDecelerate(player):
speed = MIN_SPEED
else:
speed = MAX_SPEED
if fabs(relH) <= constants.MAX_BEARING_DIFF:
wayPoint = RobotLocation(
ball.x -
constants.WAYPOINT_DIST * cos(radians(player.kick.setupH)),
ball.y -
constants.WAYPOINT_DIST * sin(radians(player.kick.setupH)),
player.brain.loc.h)
player.brain.nav.goTo(wayPoint,
Navigator.CLOSE_ENOUGH,
speed,
True,
fast=True)
if transitions.shouldSpinToKickHeading(player):
return player.goNow('spinToKickHeading')
else:
player.brain.nav.chaseBall(speed, fast=True)
if transitions.shouldPrepareForKick(player):
return player.goLater('positionAndKickBall')
return player.stay()
def walkToWayPoint(player):
if player.brain.nav.dodging:
return player.stay()
if player.firstFrame():
player.decider = KickDecider.KickDecider(player.brain)
player.brain.tracker.trackBall()
player.kick = player.decider.new2016KickStrategy()
relH = player.decider.normalizeAngle(player.kick.setupH - player.brain.loc.h)
ball = player.brain.ball
# print "In walkToWayPoint"
if transitions.shouldDecelerate(player):
# print "I should decelerate"
speed = speeds.SPEED_SIX
else:
speed = speeds.SPEED_EIGHT
if fabs(relH) <= 50: #constants.MAX_BEARING_DIFF:
wayPoint = RobotLocation(ball.x - constants.WAYPOINT_DIST*cos(radians(player.kick.setupH)),
ball.y - constants.WAYPOINT_DIST*sin(radians(player.kick.setupH)),
player.brain.loc.h)
# print("Going to waypoint")
player.brain.nav.goTo(wayPoint, Navigator.GENERAL_AREA, speed, True, fast = True)
if transitions.shouldSpinToKickHeading(player):
return player.goNow('spinToKickHeading')
else:
player.brain.nav.chaseBall(speed, fast = True)
if transitions.shouldPrepareForKick(player):
return player.goLater('dribble')
return player.stay()
def approachBall(player):
if BoxTransitions.ballNotInBox(player):
return player.goLater('positionAtHome')
if player.firstFrame():
player.brain.tracker.trackBall()
if player.shouldKickOff:
player.brain.nav.chaseBall(Navigator.QUICK_SPEED, fast=True)
elif player.penaltyKicking:
return player.goNow('prepareForPenaltyKick')
else:
player.brain.nav.chaseBall(fast=True)
if transitions.shouldFindBall(player):
return player.goLater('chase')
if (transitions.shouldPrepareForKick(player)
or player.brain.nav.isAtPosition()):
if player.brain.nav.isAtPosition():
print "isAtPosition() is causing the bug!"
else:
print "shouldPrepareForKick() is causing the bug!"
print player.brain.ball.distance
print player.brain.ball.vis.distance
player.inKickingState = True
if player.shouldKickOff:
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_SHORT_STRAIGHT_KICK
else:
player.kick = kicks.RIGHT_SHORT_STRAIGHT_KICK
return player.goNow('positionForKick')
else:
return player.goNow('prepareForKick')
else:
return player.stay()
