def spinToBall(player):
"""
State to spin to turn to the ball
"""
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
ball = player.brain.ball
turnRate = MyMath.clip(ball.locBearing*ChaseConstants.BALL_SPIN_GAIN,
-ChaseConstants.BALL_SPIN_SPEED,
ChaseConstants.BALL_SPIN_SPEED)
if transitions.atSpinBallDir(player):
return player.goLater('atSpinBallPosition')
elif transitions.shouldSpinFindBallPosition(player):
return player.goLater('spinFindBallPosition')
elif player.currentSpinDir != MyMath.sign(turnRate):
player.stopWalking()
player.currentSpinDir = MyMath.sign(turnRate)
elif player.stoppedWalk and ball.on and player.brain.nav.isStopped():
player.setWalk(x=0,y=0,theta=turnRate)
return player.stay()
def spinToBall(player):
"""
State to spin to turn to the ball
"""
if player.firstFrame():
player.stopWalking()
player.brain.tracker.trackBall()
ball = player.brain.ball
turnRate = MyMath.clip(ball.locBearing * ChaseConstants.BALL_SPIN_GAIN,
-ChaseConstants.BALL_SPIN_SPEED,
ChaseConstants.BALL_SPIN_SPEED)
if transitions.atSpinBallDir(player):
return player.goLater('atSpinBallPosition')
elif transitions.shouldSpinFindBallPosition(player):
return player.goLater('spinFindBallPosition')
elif player.currentSpinDir != MyMath.sign(turnRate):
player.stopWalking()
player.currentSpinDir = MyMath.sign(turnRate)
elif player.stoppedWalk and ball.on and player.brain.nav.isStopped():
player.setWalk(x=0, y=0, theta=turnRate)
return player.stay()
def atSpinBallPosition(player):
"""
Spun to the ball heading, spin again
"""
if player.firstFrame():
player.stopWalking()
player.brain.tracker.activeLoc()
if transitions.shouldTurnToBall_fromAtBallPosition(player):
return player.goLater('spinToBall')
elif transitions.shouldSpinFindBallPosition(player):
return player.goLater('spinFindBallPosition')
return player.stay()
def atSpinBallPosition(player):
"""
Spun to the ball heading, spin again
"""
if player.firstFrame():
player.stopWalking()
player.brain.tracker.activeLoc()
if transitions.shouldTurnToBall_fromAtBallPosition(player):
return player.goLater('spinToBall')
elif transitions.shouldSpinFindBallPosition(player):
return player.goLater('spinFindBallPosition')
return player.stay()
def spinFindBallPosition(player):
"""
Spin to find the ball if it is not being seen.
"""
if player.brain.nav.isStopped():
player.stoppedWalk = True
if player.firstFrame() and player.stoppedWalk:
player.setWalk(0, 0, ChaseConstants.FIND_BALL_SPIN_SPEED)
player.brain.tracker.trackBall()
if transitions.shouldTurnToBall_fromAtBallPosition(player):
return player.goLater('spinToBall')
if transitions.atSpinBallDir(player):
return player.goLater('atSpinBallPosition')
return player.stay()
def spinFindBallPosition(player):
"""
Spin to find the ball if it is not being seen.
"""
if player.brain.nav.isStopped():
player.stoppedWalk = True
if player.firstFrame() and player.stoppedWalk:
player.setSpeed(0, 0, ChaseConstants.FIND_BALL_SPIN_SPEED)
player.brain.tracker.trackBall()
if transitions.shouldTurnToBall_fromAtBallPosition(player):
return player.goLater("spinToBall")
if transitions.atSpinBallDir(player):
return player.goLater("atSpinBallPosition")
return player.stay()
def playbookPosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
brain = player.brain
nav = brain.nav
my = brain.my
ball = brain.ball
gcState = brain.gameController.currentState
if player.firstFrame():
if gcState == 'gameReady':
brain.tracker.locPans()
else:
brain.tracker.activeLoc()
# determine final goal heading
if ball.on:
destHeading = my.h + ball.bearing
elif ball.framesOff < 30:
destHeading = my.h + ball.locBearing
else:
destHeading = NogginConstants.OPP_GOAL_HEADING
# turn playbook value into location for navigator
position = player.brain.play.getPosition()
position = RobotLocation(position[0], position[1], destHeading)
if gcState == 'gameReady':
position.h = NogginConstants.OPP_GOAL_HEADING
nav.positionPlaybook(position)
if brain.my.locScore == NogginConstants.BAD_LOC:
player.shouldRelocalizeCounter += 1
# only need to check after we increment counter
if player.shouldRelocalizeCounter >=\
constants.SHOULD_RELOC_FRAME_THRESH:
return player.goLater('relocalize')
else:
player.shouldRelocalizeCounter = 0
if transitions.shouldAvoidObstacle(player):
return player.goNow('avoidObstacle')
# we're at the point, let's switch to another state
if nav.isStopped() and player.counter > 0:
return player.goLater('atPosition')
return player.stay()
def playbookPosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
brain = player.brain
nav = brain.nav
my = brain.my
ball = brain.ball
gcState = brain.gameController.currentState
if player.firstFrame():
if gcState == 'gameReady':
brain.tracker.locPans()
else:
brain.tracker.activeLoc()
# determine final goal heading
if ball.on:
destHeading = my.h + ball.bearing
elif ball.framesOff < 30:
destHeading = my.h + ball.locBearing
else:
destHeading = NogginConstants.OPP_GOAL_HEADING
# turn playbook value into location for navigator
position = player.brain.play.getPosition()
position = RobotLocation(position[0], position[1], destHeading)
if gcState == 'gameReady':
position.h = NogginConstants.OPP_GOAL_HEADING
nav.positionPlaybook(position)
if brain.my.locScore == NogginConstants.BAD_LOC:
player.shouldRelocalizeCounter += 1
# only need to check after we increment counter
if player.shouldRelocalizeCounter >=\
constants.SHOULD_RELOC_FRAME_THRESH:
return player.goLater('relocalize')
else:
player.shouldRelocalizeCounter = 0
if transitions.shouldAvoidObstacle(player):
return player.goNow('avoidObstacle')
# we're at the point, let's switch to another state
if nav.isStopped() and player.counter > 0:
return player.goLater('atPosition')
return player.stay()
def playbookPosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
brain = player.brain
nav = brain.nav
gcState = brain.gameController.currentState
if player.firstFrame():
nav.positionPlaybook()
if gcState == 'gameReady':
brain.tracker.locPans()
else:
brain.tracker.activeLoc()
if PosTran.leavingTheField(player):
return player.goLater('spinToField')
return player.stay()
def atPosition(player):
"""
State for when we're at the position
"""
nav = player.brain.nav
position = player.brain.play.getPosition()
position = Location(position[0], position[1])
if player.firstFrame():
player.stopWalking()
player.notAtPositionCounter = 0
# buffer switching back to playbook position
if transitions.shouldReposition(nav.dest, position):
player.notAtPositionCounter += 1
if player.notAtPositionCounter >=\
constants.NOT_AT_POSITION_FRAMES_THRESH:
return player.goLater('playbookPosition')
else:
player.notAtPositionCounter = 0
return player.stay()
def atPosition(player):
"""
State for when we're at the position
"""
nav = player.brain.nav
position = player.brain.play.getPosition()
position = Location(position[0], position[1])
if player.firstFrame():
player.stopWalking()
player.notAtPositionCounter = 0
# buffer switching back to playbook position
if transitions.shouldReposition(nav.dest, position):
player.notAtPositionCounter += 1
if player.notAtPositionCounter >=\
constants.NOT_AT_POSITION_FRAMES_THRESH:
return player.goLater('playbookPosition')
else:
player.notAtPositionCounter = 0
return player.stay()
def goalieIsLost(player):
"""
Goalie is facing off field
"""
return PosTran.leavingTheField(player)
def goalieIsLost(player):
return PosTran.leavingTheField(player)
def playbookPosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
brain = player.brain
position = brain.playbook.position
nav = brain.nav
my = brain.my
ball = brain.ball
if player.firstFrame():
player.changeOmniGoToCounter = 0
if brain.gameController.currentState == 'gameReady':
brain.tracker.locPans()
else :
brain.tracker.activeLoc()
# Get a bearing to the ball
if brain.gameController.currentState == 'gameReady':
destHeading = NogginConstants.OPP_GOAL_HEADING
elif ball.on:
destHeading = my.h + ball.bearing
elif ball.framesOff < 3:
destHeading = my.h + ball.locBearing
else:
destHeading = NogginConstants.OPP_GOAL_HEADING
distToPoint = MyMath.dist(my.x, my.y, position[0], position[1])
position = (position[0], position[1], destHeading)
if brain.gameController.currentState == 'gameReady':
useOmniDist = constants.OMNI_POSITION_READY_DIST
else:
useOmniDist = constants.OMNI_POSITION_DIST
useOmni = distToPoint <= useOmniDist
changedOmni = False
if useOmni != nav.movingOmni:
player.changeOmniGoToCounter += 1
else :
player.changeOmniGoToCounter = 0
if player.changeOmniGoToCounter > constants.CHANGE_OMNI_THRESH:
changedOmni = True
# Send a goto if we have changed destinations or are just starting
if (player.firstFrame() or
abs(nav.destX - position[0]) > constants.GOTO_DEST_EPSILON or
abs(nav.destY - position[1]) > constants.GOTO_DEST_EPSILON or
changedOmni):
if brain.my.locScore == NogginConstants.BAD_LOC:
player.shouldRelocalizeCounter += 1
else:
player.shouldRelocalizeCounter = 0
if player.shouldRelocalizeCounter > constants.SHOULD_RELOC_FRAME_THRESH:
return player.goLater('relocalize')
# Attempt to go to the point while looking at the ball
if (not useOmni or
(player.brain.playbook.role == PBConstants.DEFENDER and
player.brain.ball.x < player.brain.my.x)):
nav.goTo(position)
else:
nav.omniGoTo(position)
if transitions.shouldAvoidObstacle(player):
return player.goNow('avoidObstacle')
# we're at the point, let's switch to another state
if nav.isStopped() and player.counter > 0:
return player.goLater('atPosition')
return player.stay()
