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 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()
