def be_attacker(self, myi, robot_pos, team):
stuff = 0
point = 0
if (myi['x'] < robot_pos['x']) if team else (
myi['x'] > robot_pos['x']):
#print(intercepts)
x = fit_parabola(myi, robot_pos, {
'x': (0.0 if team else 1.0),
"y": 0.5
})
if not passes_boundary(x):
point = get_tangent_point(robot_pos, x, team)
ball_angle, robot_angle = self.get_angles(point, robot_pos)
return goTo(point['x'], point['y'], robot_pos, robot_angle)
else:
ball_angle, robot_angle = self.get_angles(myi, robot_pos)
return goTo(myi['x'], myi['y'], robot_pos, robot_angle)
else:
ball_angle, robot_angle = self.get_angles(myi, robot_pos)
return goTo(myi['x'], myi['y'], robot_pos, robot_angle)
def be_goalie(self, ball_pos, robot_pos, team):
Designated_pos = [[0.58, 0]] if team else [[-0.58,0]]
DesiredPos = coor_recalc(Designated_pos[0][0],Designated_pos[0][1], team=team)
if (ball_pos['x'] > DesiredPos['x']) if team else (ball_pos['x'] < DesiredPos['x']):
DesiredPos = ball_pos
else:
DesiredPos['y'] = goalie_cal_Y(ball_pos)
ball_angle, robot_angle = self.get_angles(ball_pos, robot_pos)
return goTo(DesiredPos["x"], DesiredPos["y"], robot_pos, robot_angle) #0 right motor, 1 left motor
def be_backup(self, robot_pos, data, Team):
DesiredPos = support_position(data, Team)
ball_angle, robot_angle = self.get_angles(DesiredPos, robot_pos)
return goTo(DesiredPos["x"], DesiredPos["y"], robot_pos,
robot_angle) #0 right motor, 1 left motor