def use_brain(self) -> SimpleControllerState:
# Check kickoff
if self.info.is_kickoff and not self.doing_kickoff:
self.maneuver = choose_kickoff_maneuver(self)
self.doing_kickoff = True
self.print("Kickoff - Hello world!")
# Execute logic
if self.maneuver is None or self.maneuver.done:
# There is no maneuver, use utility system to find a choice
self.maneuver = None
self.doing_kickoff = False
self.choice = self.ut.evaluate(self)
ctrl = self.choice.exec(self)
# The choice has started a maneuver, reset utility system and execute maneuver instead
if self.maneuver is not None:
self.ut.reset()
self.choice = None
return self.maneuver.exec(self)
return ctrl
return self.maneuver.exec(self)
def use_brain(self) -> SimpleControllerState:
# Check kickoff
if self.info.is_kickoff and not self.doing_kickoff:
self.maneuver = choose_kickoff_maneuver(self)
self.doing_kickoff = True
self.print("Kickoff - Hello world!")
# Execute logic
if self.maneuver is None or self.maneuver.done:
# There is no maneuver (anymore)
self.maneuver = None
self.doing_kickoff = False
self.choice = self.ut.get_best_state(self)
ctrl = self.choice.run(self)
# The state has started a maneuver. Execute maneuver instead
if self.maneuver is not None:
return self.maneuver.exec(self)
return ctrl
return self.maneuver.exec(self)