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()
