def chaseAroundBox(player):
if player.firstFrame():
player.shouldNotChaseAroundBox = 0
player.brain.CoA.setRobotGait(player.brain.motion)
if transitions.shouldKick(player):
return player.goNow('waitBeforeKick')
elif transitions.shouldScanFindBall(player):
return player.goLater('scanFindBall')
elif transitions.shouldAvoidObstacle(
player): # Has potential to go into box!
return player.goLater('avoidObstacle')
if not transitions.shouldChaseAroundBox(player):
player.shouldChaseAroundBox += 1
else:
player.shouldChaseAroundBox = 0
if player.shouldChaseAroundBox > constants.STOP_CHASING_AROUND_BOX:
return player.goLater('chase')
ball = player.brain.ball
my = player.brain.my
if my.x > NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if ball.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if ball.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if my.x < NogginConstants.MY_GOALBOX_RIGHT_X:
# go to corner nearest ball
if my.y > NogginConstants.MY_GOALBOX_TOP_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_TOP_Y +
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
if my.y < NogginConstants.MY_GOALBOX_BOTTOM_Y:
player.brain.nav.goTo(
RobotLocation(
NogginConstants.MY_GOALBOX_RIGHT_X +
constants.GOALBOX_OFFSET,
NogginConstants.MY_GOALBOX_BOTTOM_Y -
constants.GOALBOX_OFFSET, NogginConstants.MY_GOAL_HEADING))
return player.stay()
def getApproachHeadingFromFront(self):
ball = self.brain.ball
my = self.brain.my
kickDest = KickingHelpers.getShotFarAimPoint(self)
ballLoc = RobotLocation(ball.x, ball.y, NogginConstants.OPP_GOAL_HEADING)
ballBearingToKickDest = ballLoc.getRelativeBearing(kickDest)
if my.y > ball.y:
destH = ballBearingToKickDest - 90
else :
destH = ballBearingToKickDest + 90
return destH
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 goalieAtPosition(player):
brain = player.brain
nav = player.brain.nav
if brain.ball.dist >= constants.ACTIVE_LOC_THRESH:
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
# Check that the position is correct
ball = brain.ball
heading = None
if ball.on:
heading = brain.my.h + ball.bearing
elif ball.framesOff < 3:
heading = brain.my.h + ball.locBearing
else:
heading = NogginConstants.OPP_GOAL_HEADING
position = player.brain.play.getPosition()
position = RobotLocation(position[0], position[1], heading)
if (abs(nav.dest.x - position.x) > constants.SHOULD_POSITION_DIFF
or abs(nav.dest.y - position.y) > constants.SHOULD_POSITION_DIFF
or not player.atDestinationGoalie() or not player.atHeading()):
return player.goNow("goalieAwesomePosition")
return player.stay()
def goalieAwesomePosition(player):
"""
Have the robot navigate to the position reported to it from playbook
"""
brain = player.brain
nav = brain.nav
my = brain.my
if player.firstFrame():
player.changeOmniGoToCounter = 0
if brain.ball.dist >= constants.ACTIVE_LOC_THRESH:
player.brain.tracker.activeLoc()
else:
player.brain.tracker.trackBall()
heading = None
ball = brain.ball
if ball.on:
heading = brain.my.h + ball.bearing
elif ball.framesOff < 3:
heading = brain.my.h + ball.locBearing
else:
heading = NogginConstants.OPP_GOAL_HEADING
position = player.brain.play.getPosition()
position = RobotLocation(position[0], position[1], heading)
nav.positionPlaybook(position)
if nav.isStopped():
return player.goLater("goalieAtPosition")
return player.stay()
def penaltyKickBall(player):
ball = player.brain.ball
if not player.penaltyMadeFirstKick:
return player.goLater('penaltyKickShortDribble')
#return player.goLater('kickBallStraightShort')
if not player.penaltyMadeSecondKick:
ballLoc = RobotLocation(ball.x, ball.y, NogginConstants.OPP_GOAL_HEADING)
goalLoc = Location( NogginConstants.OPP_GOAL_MIDPOINT[0],
NogginConstants.OPP_GOAL_MIDPOINT[1])
ballBearingToGoal = ballLoc.getRelativeBearing(goalLoc)
player.angleToAlign = ballBearingToGoal - player.brain.my.h
if player.angleToAlign < constants.ALIGN_FOR_KICK_MIN_ANGLE:
player.bigKick = True
return player.goLater('kickBallStraight')
else :
return player.goLater('alignOnBallStraightKick')
return player.stay()
def walkToBallLocPos(player):
player.brain.tracker.trackBall()
if transitions.shouldApproachBallWithLoc(player):
player.brain.tracker.trackBall()
return player.goLater('approachBallWithLoc')
elif transitions.shouldTurnToBall_FoundBall(player):
return player.goLater('turnToBall')
ball = player.brain.ball
destH = player.brain.my.getTargetHeading(ball)
dest = RobotLocation(ball.x, ball.y, destH)
nav = player.brain.nav
if player.firstFrame() or \
nav.dest != dest:
nav.goTo(dest)
return player.stay()
def __init__(self, brain):
"""it gets you where you want to go"""
FSA.FSA.__init__(self, brain)
self.brain = brain
self.addStates(NavStates)
self.addStates(PlaybookPositionStates)
self.currentState = 'stopped'
self.setName('Navigator')
self.setPrintStateChanges(True)
self.setPrintFunction(self.brain.out.printf)
self.stateChangeColor = 'cyan'
# Goto controls
self.dest = RobotLocation(0, 0, 0)
# Walk controls
self.currentGait = None
self.walkX = 0
self.walkY = 0
self.walkTheta = 0
self.orbitDir = 0
self.angleToOrbit = 0
self.curSpinDir = 0
def getApproachHeadingFromBehind(self):
ball = self.brain.ball
aimPoint = KickingHelpers.getShotFarAimPoint(self)
ballLoc = RobotLocation(ball.x, ball.y, NogginConstants.OPP_GOAL_HEADING)
ballBearingToGoal = ballLoc.getRelativeBearing(aimPoint)
return ballBearingToGoal
