def handle(self, sequencer, map, pathfinder):
mapCoordinatesAdjuster = MapCoordinatesAjuster(map)
convertedPoint = mapCoordinatesAdjuster.convertPoint(map.robot.center)
sequencer.setState(SendingBotToTreasureState())
safeSpot = pathfinder.findGoodPoint((800, 250))
return pathfinder.findPath(convertedPoint,
safeSpot), "detectTreasure", 180
def handle(self, sequencer, map, pathfinder):
mapCoordinatesAdjuster = MapCoordinatesAjuster(map)
treasurePosition, orientationToGo = map.getPositionInFrontOfTreasure()
convertedRobotPosition = mapCoordinatesAdjuster.convertPoint(map.robot.center)
convertedTreasurePosition = mapCoordinatesAdjuster.convertPoint(treasurePosition)
sequencer.setState(SendingBotToTargetState())
return pathfinder.findPath(convertedRobotPosition, convertedTreasurePosition), "alignPositionToTreasure", orientationToGo
def handle(self, sequencer, map, pathfinder):
mapCoordinatesAdjuster = MapCoordinatesAjuster(map)
treasurePosition, orientationToGo = map.getPositionInFrontOfTreasure()
convertedRobotPosition = mapCoordinatesAdjuster.convertPoint(
map.robot.center)
convertedTreasurePosition = mapCoordinatesAdjuster.convertPoint(
treasurePosition)
sequencer.setState(SendingBotToTargetState())
return pathfinder.findPath(
convertedRobotPosition, convertedTreasurePosition
), "alignPositionToTreasure", orientationToGo
def handle(self, sequencer, map, pathfinder):
mapCoordinatesAdjuster = MapCoordinatesAjuster(map)
convertedPoint = mapCoordinatesAdjuster.convertPoint(map.robot.center)
sequencer.setState(DetectTreasureState())
return pathfinder.findPath(
convertedPoint, (885, 110)), "alignPositionToChargingStation", 270
def handle(self, sequencer, map, pathfinder):
mapCoordinatesAdjuster = MapCoordinatesAjuster(map)
convertedPoint = mapCoordinatesAdjuster.convertPoint(map.robot.center)
sequencer.setState(DetectTreasureState())
return pathfinder.findPath(convertedPoint, (885,110)), "alignPositionToChargingStation", 270
def handle(self, sequencer, map, pathfinder):
mapCoordinatesAdjuster = MapCoordinatesAjuster(map)
convertedPoint = mapCoordinatesAdjuster.convertPoint(map.robot.center)
sequencer.setState(SendingBotToTreasureState())
safeSpot = pathfinder.findGoodPoint((800,250))
return pathfinder.findPath(convertedPoint,safeSpot), "detectTreasure", 180