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 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 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.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')
