def positionAtHome(player):
"""
Go to the player's home position. Defenders look in the direction of the
shared ball if it is on with reliability >= 2. Cherry pickers look in the direction
of the shared ball if it is on with reliability >= 1.
"""
if player.firstFrame():
player.brain.tracker.trackBall()
home = RobotLocation(player.homePosition.x, player.homePosition.y, player.homePosition.h)
if (player.brain.sharedBall.ball_on and player.brain.sharedBall.reliability >= 2 and
role.isDefender(player.role)):
sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
home.h = player.brain.loc.getRelativeBearing(sharedball)
elif (player.brain.sharedBall.ball_on and player.brain.sharedBall.reliability >= 1 and
role.isCherryPicker(player.role)):
sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
home.h = player.brain.loc.getRelativeBearing(sharedball)
fastWalk = role.isCherryPicker(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
home = RobotLocation(player.homePosition.x, player.homePosition.y, player.homePosition.h)
if (player.brain.sharedBall.ball_on and player.brain.sharedBall.reliability >= 2 and
role.isDefender(player.role)):
sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
home.h = player.brain.loc.getRelativeBearing(sharedball)
elif (player.brain.sharedBall.ball_on and player.brain.sharedBall.reliability >= 1 and
role.isCherryPicker(player.role)):
sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
home.h = player.brain.loc.getRelativeBearing(sharedball)
player.brain.nav.updateDest(home)
def positionAtHome(player):
"""
Go to the player's home position. Defenders look in the direction of the
shared ball if it is on with reliability >= 2. Cherry pickers look in the direction
of the shared ball if it is on with reliability >= 1.
"""
home = RobotLocation(player.homePosition.x, player.homePosition.y, player.homePosition.h)
# if (player.brain.sharedBall.ball_on and player.brain.sharedBall.reliability >= 2 and
# role.isDefender(player.role)):
# sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
# home.h = player.brain.loc.getRelativeBearing(sharedball)
# elif (player.brain.sharedBall.ball_on and player.brain.sharedBall.reliability >= 1 and
# role.isCherryPicker(player.role)):
# sharedball = Location(player.brain.sharedBall.x, player.brain.sharedBall.y)
# home.h = player.brain.loc.getRelativeBearing(sharedball)
if player.firstFrame():
if role.isCherryPicker(player.role):
player.brain.tracker.repeatWidePan()
else:
player.brain.tracker.trackBall()
fastWalk = role.isCherryPicker(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)
def positionAtHome(player):
"""
Go to the player's home position. Defenders look in the direction of the
shared ball if it is on with reliability >= 2. Cherry pickers look in the direction
of the shared ball if it is on with reliability >= 1.
"""
if role.isFirstChaser(player.role) and transitions.shouldFindSharedBall(player):
return player.goLater('searchFieldForSharedBall')
if player.brain.ball.vis.frames_off < 10:
ball = player.brain.ball
bearing = ball.bearing_deg
elif player.brain.sharedBall.ball_on:
ball = player.brain.sharedBall
bearing = degrees(atan2(ball.y - player.brain.loc.y,
ball.x - player.brain.loc.x)) - player.brain.loc.h
else:
ball = None
home = player.homePosition
if ball != None:
if role.isLeftDefender(player.role):
home = findDefenderHome(True, ball, bearing + player.brain.loc.h)
elif role.isRightDefender(player.role):
home = findDefenderHome(False, ball, bearing + player.brain.loc.h)
elif role.isStriker(player.role):
home = findStrikerHome(ball, bearing + player.brain.loc.h)
else:
home = player.homePosition
if player.firstFrame():
if role.isCherryPicker(player.role):
player.brain.tracker.repeatBasicPan()
else:
player.brain.tracker.trackBall()
fastWalk = role.isChaser(player.role)
player.brain.nav.goTo(home, precision = nav.HOME,
speed = nav.QUICK_SPEED, avoidObstacles = True,
fast = fastWalk, pb = False)
player.brain.nav.updateDest(home)
