Пример #1
0
def waitBeforeKick(player):
    """
    Stop before we kick to make sure we want to kick
    """
    player.inKickingState = True
    if player.firstFrame():
        player.brain.CoA.setRobotGait(player.brain.motion)
        player.stopWalking()

    if not player.brain.nav.isStopped():
        return player.stay()

    if transitions.shouldKick(player):
        return player.goLater('getKickInfo')
    elif transitions.shouldApproachForKick(player):
        player.brain.tracker.trackBall()
        player.inKickingState = False
        return player.goLater('approachBall')
    elif transitions.shouldScanFindBall(player):
        player.inKickingState = False
        player.brain.tracker.trackBall()
        return player.goLater('scanFindBall')
    elif transitions.shouldRepositionForKick(player):
        player.brain.tracker.trackBall()
        return player.goLater('positionForKick')

    # Just don't get stuck here!
    if player.counter > 50:
        return player.goNow('scanFindBall')
    return player.stay()
Пример #2
0
def waitBeforeKick(player):
    """
    Stop before we kick to make sure we want to kick
    """
    player.inKickingState = True
    if player.firstFrame():
        player.brain.CoA.setRobotGait(player.brain.motion)
        player.stopWalking()

    if not player.brain.nav.isStopped():
        return player.stay()

    if transitions.shouldKick(player):
        return player.goLater('getKickInfo')
    elif transitions.shouldApproachForKick(player):
        player.brain.tracker.trackBall()
        player.inKickingState = False
        return player.goLater('approachBall')
    elif transitions.shouldScanFindBall(player):
        player.inKickingState = False
        player.brain.tracker.trackBall()
        return player.goLater('scanFindBall')
    elif transitions.shouldRepositionForKick(player):
        player.brain.tracker.trackBall()
        return player.goLater('positionForKick')

    # Just don't get stuck here!
    if player.counter > 50:
        return player.goNow('scanFindBall')
    return player.stay()
Пример #3
0
def positionForKick(player):
    """
    State to align on the ball once we are near it
    """
    if player.firstFrame():
        player.brain.CoA.setRobotSlowGait(player.brain.motion)

    ball = player.brain.ball

    player.inKickingState = True
    # Leave this state if necessary
    if transitions.shouldKick(player):
        player.brain.CoA.setRobotGait(player.brain.motion)
        return player.goNow('waitBeforeKick')
    elif transitions.shouldScanFindBall(player):
        player.inKickingState = False
        player.brain.CoA.setRobotGait(player.brain.motion)
        return player.goLater('scanFindBall')
    elif transitions.shouldTurnToBallFromPositionForKick(player):
        player.inKickingState = False
        player.brain.CoA.setRobotGait(player.brain.motion)
        return player.goLater('turnToBall')
    elif transitions.shouldApproachFromPositionForKick(player):
        player.inKickingState = False
        player.brain.CoA.setRobotGait(player.brain.motion)
        return player.goLater('approachBall')

    # Determine approach speed
    targetY = ball.relY

    sY = MyMath.clip(targetY * constants.PFK_Y_GAIN,
                     constants.PFK_MIN_Y_SPEED,
                     constants.PFK_MAX_Y_SPEED)

    sY = max(constants.PFK_MIN_Y_MAGNITUDE,sY) * MyMath.sign(sY)

    if transitions.shouldApproachForKick(player):
        targetX = (ball.relX -
                   (constants.BALL_KICK_LEFT_X_CLOSE +
                    constants.BALL_KICK_LEFT_X_FAR) / 2.0)
        sX = MyMath.clip(ball.relX * constants.PFK_X_GAIN,
                         constants.PFK_MIN_X_SPEED,
                         constants.PFK_MAX_X_SPEED)
    else:
        sX = 0.0

    if ball.on:
        player.setSpeed(sX,sY,0)
    return player.stay()
Пример #4
0
def positionForKick(player):
    """
    State to align on the ball once we are near it
    """
    if player.firstFrame():
        player.brain.CoA.setRobotSlowGait(player.brain.motion)

    ball = player.brain.ball

    player.inKickingState = True
    # Leave this state if necessary
    if transitions.shouldKick(player):
        player.brain.CoA.setRobotGait(player.brain.motion)
        return player.goNow('waitBeforeKick')
    elif transitions.shouldScanFindBall(player):
        player.inKickingState = False
        player.brain.CoA.setRobotGait(player.brain.motion)
        return player.goLater('scanFindBall')
    elif transitions.shouldTurnToBallFromPositionForKick(player):
        player.inKickingState = False
        player.brain.CoA.setRobotGait(player.brain.motion)
        return player.goLater('turnToBall')
    elif transitions.shouldApproachFromPositionForKick(player):
        player.inKickingState = False
        player.brain.CoA.setRobotGait(player.brain.motion)
        return player.goLater('approachBall')

    # Determine approach speed
    targetY = ball.relY

    sY = MyMath.clip(targetY * constants.PFK_Y_GAIN, constants.PFK_MIN_Y_SPEED,
                     constants.PFK_MAX_Y_SPEED)

    sY = max(constants.PFK_MIN_Y_MAGNITUDE, sY) * MyMath.sign(sY)

    if transitions.shouldApproachForKick(player):
        #        targetX = (ball.relX -
        #                   (constants.BALL_KICK_LEFT_X_CLOSE +
        #                    constants.BALL_KICK_LEFT_X_FAR) / 2.0)
        sX = MyMath.clip(ball.relX * constants.PFK_X_GAIN,
                         constants.PFK_MIN_X_SPEED, constants.PFK_MAX_X_SPEED)
    else:
        sX = 0.0

    if ball.on:
        player.setWalk(sX, sY, 0)
    return player.stay()