def update(self):
#Tests if the robot has fallen
if has_fallen():
return "fallen"
#Stores the current time for tests and updates
self.current_time=time.time()
#Tests if the robot has lost the ball
if self.has_lost_ball():
print("lost ball")
return "lost ball"
#Test if the robot is standing in front of the ball
self.distance_to_ball=distance_to_ball()
if self.distance_to_ball>0 and self.distance_to_ball<self.distance:
robotbody.set_eyes_led(0, 31, 0)
print ("standing in front of ball")
return "done"
#Updates the position of the head
self.update_head_position()
#Updates the walking direction
self.update_walk_direction()
def update_speed(self):
self.distance_to_ball=distance_to_ball()
if self.distance_to_ball> pi*3:
self.forward_velocity = self.const_forward_velocity;
elif self.distance_to_ball< pi and self.distance_to_ball>0:
self.forward_velocity = -self.const_forward_velocity
else:
self.forward_velocity = 0
walk.set_velocity(self.forward_velocity, self.circling_velocity, ball_angle()[0])
def update(self):
#Tests if it has fallen
if has_fallen():
return "fallen"
#Stores current time
self.current_time=time.time()
#Stores whether it has found a new ball observation
self.has_new_ball_observation=vision.has_new_ball_observation()
#Stores whether it has found a new goal observation
self.has_new_goal_observation=vision.has_new_goal_observation()
#Stores the distance to the ball
self.distance_to_ball=distance_to_ball()
#Stores the new angle and type if it has new observation of the goal
if self.has_new_goal_observation:
self.goal_angle,self.goal_type=goal_angle_and_type()
#Tests if it has lost the ball
if self.has_lost_ball() or self.to_long_distance():
print ("lost the ball")
return "lost ball"
#Tests the adjustment timer
if self.adjustment_timer and self.current_time>=self.adjustment_timer:
robotbody.set_eyes_led(0, 31, 0)
print("probably looking at goal")
return "done"
#Test if it has found a goal post
if (self.has_new_goal_observation and self.looking_at_goal())\
or self.changed_speed and self.current_time>self.start_time:
robotbody.set_eyes_led(0, 31, 0)
print("found goal, " + self.which_goal_type)
return "done"
#Tests if it is time to abandon the search for a goal
if self.current_time > self.start_time + self.max_circling_time:
robotbody.set_eyes_led(0, 0, 31)
print("lucky shot")
return "fail"
#Updates the head position
self.update_head_position()
#Updates the walking speed for the robot
self.update_speed()
def update(self):
#Tests if it has fallen
if has_fallen():
return "fallen"
#Stores the current time for further tests
self.current_time=time.time()
#Updates the lost ball timer if it has a new ball observation
if vision.has_new_ball_observation():
self.lost_ball_timer=self.current_time+2
#Test if it has lost the ball
elif self.current_time>self.lost_ball_timer:
return "lost ball"
#Test if it is close enought to the ball
if distance_to_ball()<=self.distance_to_ball:
return "done"
