def spinFindBall(player):
"""
State to spin to find the ball. If we find the ball, we
move to align on it. If we don't find it, we go to a garbage state
"""
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldApproachBall(player):
player.brain.tracker.trackBall()
return player.goLater('approachBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
else:
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
player.brain.tracker.trackBall()
return player.goLater('approachBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
elif transitions.shouldWalkToBallLocPos(player):
return player.goLater('walkToBallLocPos')
if player.firstFrame():
player.brain.tracker.trackBall()
if player.justKicked:
spinDir = player.getSpinDirAfterKick()
else:
my = player.brain.my
ball = player.brain.ball
spinDir = MyMath.getSpinDir(my.h,
my.h + ball.locBearing)
player.setSpeed(0, 0, spinDir*constants.FIND_BALL_SPIN_SPEED)
return player.stay()
def scanFindBall(player):
"""
State to move the head to find the ball. If we find the ball, we
move to align on it. If we don't find it, we spin to keep looking
"""
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
if player.brain.play.isRole(GOALIE):
if transitions.shouldTurnToBall_FoundBall(player):
return player.goLater("turnToBall")
elif transitions.shouldSpinFindBall(player):
return player.goLater("spinFindBall")
else:
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater("approachBallWithLoc")
elif transitions.shouldSpinFindBall(player):
return player.goLater("spinFindBall")
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater("turnToBall")
elif transitions.shouldSpinFindBall(player):
return player.goLater("spinFindBall")
if (
abs(player.brain.ball.locBearing) < constants.SCAN_FIND_BEARING_THRESH
or player.brain.ball.locDist < constants.SCAN_FIND_DIST_THRESH
and not player.brain.play.isRole(GOALIE)
):
return player.stay()
elif player.brain.play.isRole(GOALIE) and abs(player.brain.ball.locBearing) < constants.SCAN_FIND_BEARING_THRESH:
return player.stay()
elif player.firstFrame():
return player.goLater("spinFindBall")
return player.stay()
def scanFindBall(player):
"""
State to move the head to find the ball. If we find the ball, we
move to align on it. If we don't find it, we spin to keep looking
"""
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
if player.brain.playbook.role == pbc.GOALIE:
if transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
else:
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
if abs(player.brain.ball.locBearing) < constants.SCAN_FIND_BEARING_THRESH \
or player.brain.ball.locDist < constants.SCAN_FIND_DIST_THRESH \
and not player.brain.playbook.role == pbc.GOALIE:
return player.stay()
elif player.brain.playbook.role == pbc.GOALIE and \
abs(player.brain.ball.locBearing) <\
constants.SCAN_FIND_BEARING_THRESH:
return player.stay()
elif player.firstFrame():
return player.goLater('spinFindBall')
return player.stay()
def scanFindBall(player):
"""
State to move the head to find the ball. If we find the ball, we
move to align on it. If we don't find it, we spin to keep looking
"""
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
if player.brain.play.isRole(GOALIE):
if transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
else:
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
elif transitions.shouldSpinFindBall(player):
return player.goLater('spinFindBall')
if abs(player.brain.ball.locBearing) < constants.SCAN_FIND_BEARING_THRESH \
or player.brain.ball.locDist < constants.SCAN_FIND_DIST_THRESH \
and not player.brain.play.isRole(GOALIE):
return player.stay()
elif player.brain.play.isRole(GOALIE) and \
abs(player.brain.ball.locBearing) <\
constants.SCAN_FIND_BEARING_THRESH:
return player.stay()
elif player.firstFrame():
return player.goLater('spinFindBall')
return player.stay()
def spinFindBall(player):
"""
State to spin to find the ball. If we find the ball, we
move to align on it. If we don't find it, we go to a garbage state
"""
if player.brain.play.isRole(GOALIE):
if transitions.shouldApproachBall(player):
player.brain.tracker.trackBall()
return player.goLater('approachBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
else:
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldApproachBall(player):
player.brain.tracker.trackBall()
return player.goLater('approachBall')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
elif transitions.shouldWalkToBallLocPos(player):
return player.goLater('walkToBallLocPos')
if player.firstFrame():
player.brain.tracker.trackBall()
if player.justKicked:
spinDir = player.getSpinDirAfterKick()
else:
my = player.brain.my
ball = player.brain.ball
spinDir = my.spinDirToHeading(my.h + ball.locBearing)
player.setWalk(0, 0, spinDir * constants.FIND_BALL_SPIN_SPEED)
return player.stay()
def walkToBallLocPos(player):
player.brain.tracker.trackBall()
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater("approachBallWithLoc")
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater("turnToBall")
ball = player.brain.ball
destH = MyMath.getTargetHeading(player.brain.my, ball.x, ball.y)
dest = (ball.x, ball.y, destH)
nav = player.brain.nav
if player.firstFrame() or nav.destX != dest[0] or nav.destY != dest[1] or nav.destH != dest[2]:
nav.goTo(dest)
return player.stay()
def walkToBallLocPos(player):
player.brain.tracker.trackBall()
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
ball = player.brain.ball
destH = player.brain.my.getTargetHeading(ball)
dest = RobotLocation(ball.x, ball.y, destH)
nav = player.brain.nav
if player.firstFrame() or \
nav.dest != dest:
nav.goTo(dest)
return player.stay()
def walkToBallLocPos(player):
player.brain.tracker.trackBall()
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
ball = player.brain.ball
destH = player.brain.my.getTargetHeading(ball)
dest = RobotLocation(ball.x, ball.y, destH)
nav = player.brain.nav
if player.firstFrame() or \
nav.dest != dest:
nav.goTo(dest)
return player.stay()
