def DecideNextAction():
global lockMode
Global.myRole = Constant.ATTACKER
if GrabTurnKick.lockMode:
GrabTurnKick.DecideNextAction()
lockMode = True
return
lockMode = False
if Global.ballY < Constant.FIELD_LENGTH/2:
Forward.resetEachFrame()
rAttacker.DecideNextAction()
FWHead.DecideNextAction()
return
me_x = Global.selfLoc.getX()
me_y = Global.selfLoc.getY()
#ballToGoalDist = HelpMath.getDistanceBetween( \
# Global.ballX, Global.ballY, \
# Constant.TARGET_GOAL_X, Constant.TARGET_GOAL_Y)
angleMeBallGoal = \
HelpMath.angleBetweenTwoPointsFromPivotPoint( \
me_x, me_y, \
Constant.TARGET_GOAL_X, Constant.TARGET_GOAL_Y, \
Global.ballX, Global.ballY )
distToGoal = HelpMath.getDistanceBetween(me_x, me_y,
Constant.TARGET_GOAL_X,
Constant.TARGET_GOAL_Y)
MyTrack.DecideNextAction() # for head controlling
if canDoKick() and distToGoal < 100:
if isInRange(angleMeBallGoal, -KICK_MAX, -KICK_MIN):
Kick.UPright()
elif isInRange(angleMeBallGoal, KICK_MIN, KICK_MAX):
Kick.UPleft()
elif HelpTrack.inTargetGoalBox(Global.ballX, Global.ballY):
# if ball in the goal box
goalBoxKick(angleMeBallGoal)
else:
GrabTurnKick.DecideNextAction()
def chooseApproach_slowDown():
# Use HoverToBall for slow down approaches
HoverToBall.DecideNextAction()
global Grabbing_ForHK, Grabbing_ForVOAK
myx, myy = Global.selfLoc.getPos()
#------------------------------------------
# Should slow down for edge spin (disallow the top edge case, often flicks the ball down field)
if ((not HelpTrack.isInRange(40, 320) and HelpTrack.ballOnREdge(15))
or (HelpTrack.isInRange(140, 220) and HelpTrack.ballOnLEdge(15))
or (HelpTrack.isInRange(50, 130) and
(HelpTrack.ballOnTREdge(15) or HelpTrack.ballOnTLEdge(15)))
##~ (HelpTrack.isInRange(230,310) and HelpTrack.ballOnBEdge(15))
):
AttackerSlowDown(25.0, 10.0, 6.0, 2.0)
return True
#---------------------------------------------------------
# Grab turn kick
elif (Global.ballY > Constant.FIELD_LENGTH / 2.0 and
#HelpTrack.ballNotAlongEdge() and # Cant grap well on edge, should get behind
#not HelpTrack.isInRange(20,160) and # going up, dont grap & upen
len(HelpTeam.whichGpsOpponentWithinDistVar(50, 50)) ==
0 # No opps too close by
#not (myy > Constant.TOP_GOALBOX_EDGE_Y and myx < Constant.MIN_GOALBOX_EDGE_X) and
#not (myy > Constant.TOP_GOALBOX_EDGE_Y and myx > Constant.MAX_GOALBOX_EDGE_X)
):
GrabTurnKick.DecideNextAction()
return True
#---------------------------------------------------------
# getBehind and upenn rather than fast upenn
elif (
#HelpTrack.ballNotAlongEdge() and # Cant grap well on edge, should get behind
not (myy > Constant.TOP_GOALBOX_EDGE_Y
and myx < Constant.MIN_GOALBOX_EDGE_X)
and not (myy > Constant.TOP_GOALBOX_EDGE_Y
and myx > Constant.MAX_GOALBOX_EDGE_X)):
ballRgnBounds = InWhichBallRegion(
100.0) # input is the decision boundary
if ballRgnBounds is not None:
# Do getBehindBall if needed.
# Once doing it will not stop unless conditions break it out in StillDoingGetBehind().
if chooseGetBehind_Upenn(ballRgnBounds):
return True
return False
def DecideNextAction():
global lockMode
Global.myRole = Constant.ATTACKER
#----------------------------------------------------------
# Grabbing ball for turn and kick
lockMode = GrabTurnKick.lockMode
if GrabTurnKick.lockMode:
GrabTurnKick.DecideNextAction()
return
#----------------------------------------------------------
# stuck Detection (hysteresis)
global stuckDetectTimer
if stuckDetectTimer <= 30 and stuckDetectTimer != 0:
StuckResolution()
return
#----------------------------------------------------------
# This is localise / locate ball / track ball decision
if ShouldIStationaryLocalise(
): # do it when really lost (high pos / heading var), with no opp nearby
return
# Should I track the ball or do active localise, according to the allow and disallow timers values
LocaliseOrTrackOrFindBall()
if ShouldLocateBall or ShouldLocateWirelessBall:
return
#=========================================
# Mostly VISION_BALL from HERE ONWARDS
# Other balls?
# --------------------------------------------------------------------------
# This is the hysteresis for different approach
if StillDoingGetBehind():
return
# ------------------------------------------------------------
# ------ CHOOSE APPROACH STRATEGY -----
# ------------------------------------------------------------
if Global.ballD < 30 and Global.lostBall == 0:
setLocaliseTimer(0, 2)
if chooseApproach_noSlowDown():
return
if chooseApproach_slowDown():
return
HoverToBall.DecideNextAction()
def DecideNextAction():
global lockMode
Global.myRole = Constant.ATTACKER
#----------------------------------------------------------
# Grabbing ball for turn and kick
lockMode = GrabTurnKick.lockMode
if lockMode:
GrabTurnKick.DecideNextAction()
return
#----------------------------------------------------------
# stuck Detection (hysteresis)
global stuckDetectTimer
if stuckDetectTimer <= 30 and stuckDetectTimer != 0:
StuckResolution()
return
#######################################################################
# Nobuyuki (16/02/2005)
# Does the robot have to stop when it is really lost?
# If it is in the middle of tracking the ball, why stop?
# If it is not tracking the ball, then finding the ball is much more
# important than localising.
# Thus, I'll comment the lines below...
#
# I also implemented active localisation criteria used in 2003.
#######################################################################
#if ShouldIStationaryLocalise(): # do it when really lost (high pos / heading var), with no opp nearby
# return
if ShouldIActivelyLocalise():
ActivelyLocalise()
return
###################################################################
# Nobuyuki (17/02/2005)
# If the robot is not localising then let it do either tracking or
# finding.
###################################################################
TrackOrFindBall()
if ShouldLocateBall or ShouldLocateWirelessBall:
return
#=========================================
# Mostly VISION_BALL from HERE ONWARDS
# Other balls?
# --------------------------------------------------------------------------
# This is the hysteresis for different approach
if StillDoingGetBehind():
return
if StillEdgeSpinning():
return
# ------------------------------------------------------------
# ------ CHOOSE APPROACH STRATEGY -----
# ------------------------------------------------------------
if Global.ballD < 30 and Global.lostBall == 0:
setLocaliseTimer(0, 2)
if chooseApproach_noSlowDown():
return
if chooseApproach_slowDown():
return
HoverToBall.DecideNextAction()