def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player)
or transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1], 0)
#only enque the new goTo destination once
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.goTo(positionForKick.kickPose, Navigator.PRECISELY,
Navigator.GRADUAL_SPEED, False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player) and player.counter > 15:
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose)
or player.brain.nav.isAtPosition()):
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(
ball.rel_x - player.kick.setupX, ball.rel_y - player.kick.setupY, 0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
if player.kick == kicks.M_LEFT_SIDE or player.kick == kicks.M_RIGHT_SIDE:
positionForKick.speed = Navigator.GRADUAL_SPEED
else:
positionForKick.speed = MIN_SPEED
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
positionForKick.speed)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('executeMotionKick')
else:
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
if player.kick == kicks.M_LEFT_SIDE or player.kick == kicks.M_RIGHT_SIDE:
positionForKick.speed = Navigator.GRADUAL_SPEED
else:
positionForKick.speed = MIN_SPEED
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
positionForKick.speed)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('executeMotionKick')
else:
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForPenaltyKick(player):
"""
We're getting ready for a penalty kick
"""
if player.firstFrame():
positionForPenaltyKick.position = True
player.inKickingState = True
positionForPenaltyKick.yes = False
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
print "Kicking with left"
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
print "Kicking with right"
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
print "Going Back to Chase"
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForPenaltyKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
#So we stand and wait for two seconds before actually positioning
if player.stateTime < 2:
return player.stay()
elif positionForPenaltyKick.position:
player.ballBeforeApproach = player.brain.ball
player.brain.tracker.lookStraightThenTrack()
positionForPenaltyKick.position = True
player.brain.nav.goTo(positionForPenaltyKick.kickPose,
Navigator.PRECISELY,
Navigator.CAREFUL_SPEED,
False,
Navigator.ADAPTIVE)
positionForPenaltyKick.position = False
else:
player.brain.nav.updateDest(positionForPenaltyKick.kickPose)
if (transitions.ballInPosition(player, positionForPenaltyKick.kickPose) or
player.brain.nav.isAtPosition()):
positionForPenaltyKick.yes = True
#return player.stay()
player.brain.nav.stand()
return player.goNow('kickBallExecute')
if positionForPenaltyKick.yes:
print "ball relX: ", ball.rel_x
print "ball relY: ", ball.rel_y
return player.stay()
def positionForPenaltyKick(player):
"""
We're getting ready for a penalty kick
"""
if player.firstFrame():
positionForPenaltyKick.position = True
player.inKickingState = True
positionForPenaltyKick.yes = False
if player.brain.ball.rel_y > 0:
player.kick = kicks.LEFT_STRAIGHT_KICK
print "Kicking with left"
else:
player.kick = kicks.RIGHT_STRAIGHT_KICK
print "Kicking with right"
if (transitions.shouldApproachBallAgain(player)
or transitions.shouldRedecideKick(player)):
player.inKickingState = False
print "Going Back to Chase"
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForPenaltyKick.kickPose = RelRobotLocation(
ball.rel_x - kick_pos[0], ball.rel_y - kick_pos[1], 0)
#So we stand and wait for two seconds before actually positioning
if player.stateTime < 2:
return player.stay()
elif positionForPenaltyKick.position:
player.ballBeforeApproach = player.brain.ball
player.brain.tracker.lookStraightThenTrack()
positionForPenaltyKick.position = True
player.brain.nav.goTo(positionForPenaltyKick.kickPose,
Navigator.PRECISELY, Navigator.CAREFUL_SPEED,
False, Navigator.ADAPTIVE)
positionForPenaltyKick.position = False
else:
player.brain.nav.updateDest(positionForPenaltyKick.kickPose)
if (transitions.ballInPosition(player, positionForPenaltyKick.kickPose)
or player.brain.nav.isAtPosition()):
positionForPenaltyKick.yes = True
#return player.stay()
player.brain.nav.stand()
return player.goNow('kickBallExecute')
if positionForPenaltyKick.yes:
print "ball relX: ", ball.rel_x
print "ball relY: ", ball.rel_y
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(
ball.rel_x - player.kick.setupX, ball.rel_y - player.kick.setupY, 0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.MEDIUM_SPEED)
positionForKick.slowDown = False
elif player.brain.ball.vis.on: # don't update if we don't see the ball
# slows down the walk when very close to the ball to stabalize motion kicking and to not walk over the ball
if player.kick == kicks.M_LEFT_STRAIGHT or player.kick == kicks.M_RIGHT_STRAIGHT:
if (not positionForKick.slowDown and player.brain.ball.distance <
constants.SLOW_DOWN_TO_BALL_DIST):
positionForKick.slowDown = True
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.GRADUAL_SPEED)
elif (positionForKick.slowDown and player.brain.ball.distance >=
constants.SLOW_DOWN_TO_BALL_DIST):
positionForKick.slowDown = False
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.MEDIUM_SPEED)
else:
player.brain.nav.updateDestinationWalkDest(
positionForKick.kickPose)
else:
player.brain.nav.updateDestinationWalkDest(
positionForKick.kickPose)
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('executeMotionKick')
else:
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.stat_rel_x - kick_pos[0],
ball.stat_rel_y - kick_pos[1],
0)
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
#only enque the new goTo destination once and update it afterwards
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.PRECISELY,
Navigator.SLOW_SPEED,
False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player):
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose) or
player.brain.nav.isAtPosition()):
player.ballBeforeKick = player.brain.ball
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.BRISK_SPEED)
positionForKick.slowDown = False
elif player.brain.ball.vis.on: # don't update if we don't see the ball
# slows down the walk when very close to the ball to stabalize motion kicking and to not walk over the ball
if player.motionKick:
if (not positionForKick.slowDown and
player.brain.ball.distance < constants.SLOW_DOWN_TO_BALL_DIST):
positionForKick.slowDown = True
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED)
elif (positionForKick.slowDown and
player.brain.ball.distance >= constants.SLOW_DOWN_TO_BALL_DIST):
positionForKick.slowDown = False
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.BRISK_SPEED)
else:
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
else:
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('executeMotionKick')
else:
player.brain.nav.stand()
return player.goNow('executeKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED,
True)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
if transitions.shouldFindBall(player):
player.inKickingState = False
return player.goLater('chase')
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('motionKickExecute')
else:
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
print "DEBUG_SUITE: In 'positionForKick', either shouldApproachBallAgain or shouldRedecideKick. Switching to 'chase'."
player.inKickingState = False
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
#only enque the new goTo destination once
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
#TODO: try getting rid of ADAPTIVE here, if ball estimates are good,
#we don't need to lower the speed/shuffle to the ball
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.PRECISELY,
Navigator.GRADUAL_SPEED,
False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player) and player.counter > 15:
print "DEBUG_SUITE: In 'positionForKick', both shouldFindBallKick and counter >15. Switching to 'chase'."
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose) or
player.brain.nav.isAtPosition()):
print "DEBUG_SUITE: In 'positionForKick', either ballInPosition or nav.isAtPosition. Switching to 'kickBallExecute'."
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player)
or transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
if not player.shouldKickOff or DRIBBLE_ON_KICKOFF:
if dr_trans.shouldDribble(player):
return player.goNow('decideDribble')
if player.corner_dribble:
return player.goNow('executeDribble')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1], 0)
if player.firstFrame():
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.destinationWalkTo(positionForKick.kickPose,
Navigator.SLOW_SPEED, True)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
if transitions.shouldFindBall(player):
player.inKickingState = False
return player.goLater('chase')
player.ballBeforeKick = player.brain.ball
if transitions.ballInPosition(player, positionForKick.kickPose):
if player.motionKick:
return player.goNow('motionKickExecute')
else:
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if (transitions.shouldApproachBallAgain(player) or
transitions.shouldRedecideKick(player)):
player.inKickingState = False
return player.goLater('chase')
ball = player.brain.ball
kick_pos = player.kick.getPosition()
positionForKick.kickPose = RelRobotLocation(ball.rel_x - kick_pos[0],
ball.rel_y - kick_pos[1],
0)
#only enque the new goTo destination once
if player.firstFrame():
# Safer when coming from orbit in 1 frame. Still works otherwise, too.
player.brain.tracker.lookStraightThenTrack()
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.PRECISELY,
Navigator.GRADUAL_SPEED,
False,
Navigator.ADAPTIVE)
else:
player.brain.nav.updateDest(positionForKick.kickPose)
if transitions.shouldFindBallKick(player) and player.counter > 15:
player.inKickingState = False
return player.goLater('chase')
if (transitions.ballInPosition(player, positionForKick.kickPose) or
player.brain.nav.isAtPosition()):
player.brain.nav.stand()
return player.goNow('kickBallExecute')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
print("I think I should redecide my kick!!")
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(
ball.rel_x - player.kick.setupX, ball.rel_y - player.kick.setupY, 0)
# print("")
# print("Ball is: ", ball.rel_x, ball.rel_y)
# print("Ball dist:", ball.distance)
# print("My kick setup is: ", player.kick.setupX, player.kick.setupY)
# print("Ball.rel_x:", ball.rel_x, "rel_y:", ball.rel_y)
if player.firstFrame():
# print("IN position for kick, should kick off: ", player.shouldKickOff)
player.brain.tracker.lookStraightThenTrack()
# if player.kick == kicks.M_LEFT_SIDE or player.kick == kicks.M_RIGHT_SIDE:
# positionForKick.speed = Navigator.GRADUAL_SPEED
# else:
positionForKick.speed = speeds.SPEED_TWO
# print("In position for kick! Setting walk speed")
# print("My location:", str(positionForKick.kickPose))
player.brain.nav.goTo(positionForKick.kickPose,
Navigator.CLOSE_ENOUGH,
speeds.SPEED_FIVE,
True,
fast=True,
useLoc=False)
# player.brain.nav.walkTo(positionForKick.kickPose, speeds.SPEED_THREE)
# player.setWalk()
# player.brain.nav.destinationWalkTo(positionForKick.kickPose,
# positionForKick.speed)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
# print "positionForKick -- we don't see it"
player.brain.nav.updateDest(positionForKick.kickPose)
# print("MY kickpose:", str(positionForKick.kickPose))
# player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
# print "positionForKick"
# print "positionForKick"
player.ballBeforeKick = player.brain.ball
# print("Kickpose: ", str(positionForKick.kickPose))
if (transitions.ballInPosition(player, positionForKick.kickPose)
or player.brain.nav.currentState is 'atPosition'):
# print("The ball is in position! CHASEBALL")
# print player.kick
player.shouldKickOff = False
return player.goLater('executeSweetKick')
# if player.motionKick or True:
# return player.goNow('executeMotionKick')
# elif player.kick.bhKickType or True:
# player.brain.nav.stand()
# return player.goLater('executeBHKick')
# else:
# player.brain.nav.stand()
# return player.goLater('executeSweetKick')
return player.stay()
def positionForKick(player):
"""
Get the ball in the sweet spot
"""
if transitions.shouldRedecideKick(player):
print("I think I should redecide my kick!!")
return player.goLater('approachBall')
ball = player.brain.ball
positionForKick.kickPose = RelRobotLocation(ball.rel_x - player.kick.setupX,
ball.rel_y - player.kick.setupY,
0)
# print("")
# print("Ball is: ", ball.rel_x, ball.rel_y)
# print("Ball dist:", ball.distance)
# print("My kick setup is: ", player.kick.setupX, player.kick.setupY)
# print("Ball.rel_x:", ball.rel_x, "rel_y:", ball.rel_y)
if player.firstFrame():
# print("IN position for kick, should kick off: ", player.shouldKickOff)
player.brain.tracker.lookStraightThenTrack()
# if player.kick == kicks.M_LEFT_SIDE or player.kick == kicks.M_RIGHT_SIDE:
# positionForKick.speed = Navigator.GRADUAL_SPEED
# else:
positionForKick.speed = speeds.SPEED_TWO
# print("In position for kick! Setting walk speed")
# print("My location:", str(positionForKick.kickPose))
player.brain.nav.goTo(positionForKick.kickPose, Navigator.CLOSE_ENOUGH,
speeds.SPEED_FIVE, True, fast = True, useLoc = False)
# player.brain.nav.walkTo(positionForKick.kickPose, speeds.SPEED_THREE)
# player.setWalk()
# player.brain.nav.destinationWalkTo(positionForKick.kickPose,
# positionForKick.speed)
elif player.brain.ball.vis.on: # don't update if we don't see the ball
# print "positionForKick -- we don't see it"
player.brain.nav.updateDest(positionForKick.kickPose)
# print("MY kickpose:", str(positionForKick.kickPose))
# player.brain.nav.updateDestinationWalkDest(positionForKick.kickPose)
# print "positionForKick"
# print "positionForKick"
player.ballBeforeKick = player.brain.ball
# print("Kickpose: ", str(positionForKick.kickPose))
if (transitions.ballInPosition(player, positionForKick.kickPose)
or player.brain.nav.currentState is 'atPosition'):
# print("The ball is in position! CHASEBALL")
# print player.kick
player.shouldKickOff = False
return player.goLater('executeSweetKick')
# if player.motionKick or True:
# return player.goNow('executeMotionKick')
# elif player.kick.bhKickType or True:
# player.brain.nav.stand()
# return player.goLater('executeBHKick')
# else:
# player.brain.nav.stand()
# return player.goLater('executeSweetKick')
return player.stay()
