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 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()
