Python ChaseBallTransitions.shouldTurnToBall_ApproachBall方法代码示例

# 需要导入模块: import ChaseBallTransitions [as 别名]
# 或者: from ChaseBallTransitions import shouldTurnToBall_ApproachBall [as 别名]
def chase(player):
    """
    Method to determine which chase state should be used.
    We dump the robot into this state when we our switching from something else.
    """
    player.isChasing = True
    player.hasAlignedOnce = False
    if player.brain.playbook.role == pbc.GOALIE:
        if transitions.shouldScanFindBall(player):
            return player.goNow('scanFindBall')
        elif transitions.shouldApproachBall(player):
            return player.goNow('approachBall')
        elif transitions.shouldKick(player):
            return player.goNow('waitBeforeKick')
        elif transitions.shouldTurnToBall_ApproachBall(player):
            return player.goNow('turnToBall')
        else:
            return player.goNow('scanFindBall')

    if transitions.shouldScanFindBall(player):
        return player.goNow('scanFindBall')
    elif transitions.shouldApproachBallWithLoc(player):
        return player.goNow('approachBallWithLoc')
    elif transitions.shouldApproachBall(player):
        return player.goNow('approachBall')
    elif transitions.shouldKick(player):
        return player.goNow('waitBeforeKick')
    elif transitions.shouldTurnToBall_ApproachBall(player):
        return player.goNow('turnToBall')
    else:
        return player.goNow('scanFindBall')

# 需要导入模块: import ChaseBallTransitions [as 别名]
# 或者: from ChaseBallTransitions import shouldTurnToBall_ApproachBall [as 别名]
def approachBallWalk(player):
    """
    Method that is used by both approach ball and dribble
    We use things as to when we should leave and how we should walk
    """

    if player.brain.playbook.role != pbc.GOALIE:
        if transitions.shouldNotGoInBox(player):
            return player.goLater('ballInMyBox')
        elif transitions.shouldChaseAroundBox(player):
            return player.goLater('chaseAroundBox')
        elif transitions.shouldApproachBallWithLoc(player):
            return player.goNow('approachBallWithLoc')
        elif transitions.shouldTurnToBall_ApproachBall(player):
            return player.goLater('turnToBall')
        elif not player.brain.tracker.activeLocOn and \
                transitions.shouldScanFindBall(player):
            return player.goLater('scanFindBall')
        elif player.brain.tracker.activeLocOn and \
                transitions.shouldScanFindBallActiveLoc(player):
            return player.goLater('scanFindBall')
        elif transitions.shouldAvoidObstacleDuringApproachBall(player):
            return player.goLater('avoidObstacle')

    # Determine our speed for approaching the ball
    ball = player.brain.ball
    if player.brain.playbook.role == pbc.GOALIE and goalTran.dangerousBall(player):
        return player.goNow('approachDangerousBall')

    if ball.dist < constants.APPROACH_WITH_GAIN_DIST:
        sX = MyMath.clip(ball.dist*constants.APPROACH_X_GAIN,
                         constants.MIN_APPROACH_X_SPEED,
                         constants.MAX_APPROACH_X_SPEED)
    else :
        sX = constants.MAX_APPROACH_X_SPEED

    # Determine the speed to turn to the ball
    sTheta = MyMath.clip(ball.bearing*constants.APPROACH_SPIN_GAIN,
                         -constants.APPROACH_SPIN_SPEED,
                         constants.APPROACH_SPIN_SPEED)
    # Avoid spinning so slowly that we step in place
    if fabs(sTheta) < constants.MIN_APPROACH_SPIN_MAGNITUDE:
        sTheta = 0.0

    # Set our walk towards the ball
    if ball.on:
        player.setSpeed(sX,0,sTheta)

    return player.stay()

# 需要导入模块: import ChaseBallTransitions [as 别名]
# 或者: from ChaseBallTransitions import shouldTurnToBall_ApproachBall [as 别名]
def approachDangerousBall(player):
    if player.firstFrame():
        player.stopWalking()
    #print "approach dangerous ball"
    #single steps towards ball and goal with spin
    player.setSteps(0, 0, 0, 0)

    if not goalTran.dangerousBall(player):
        return player.goLater('approachBall')
    if transitions.shouldScanFindBall(player):
        return player.goLater('scanFindBall')
    elif transitions.shouldTurnToBall_ApproachBall(player):
        return player.goLater('turnToBall')
    elif transitions.shouldSpinFindBall(player):
        return player.goLater('spinFindBall')

    return player.stay()

# 需要导入模块: import ChaseBallTransitions [as 别名]
# 或者: from ChaseBallTransitions import shouldTurnToBall_ApproachBall [as 别名]
def approachBall(player):
    """
    Once we are alligned with the ball, approach it
    """
    if player.firstFrame():
        player.hasAlignedOnce = False
        player.brain.tracker.trackBall()
        player.brain.CoA.setRobotGait(player.brain.motion)

    #if player.brain.ball.locDist > constants.APPROACH_ACTIVE_LOC_DIST:
    if transitions.shouldActiveLoc(player):
        player.brain.tracker.activeLoc()
    else :
        player.brain.tracker.trackBall()


    if player.penaltyKicking and \
            player.ballInOppGoalBox():
        return player.goNow('penaltyBallInOppGoalbox')

    # Switch to other states if we should
    if player.brain.playbook.role == pbc.GOALIE:
        if transitions.shouldKick(player):
            return player.goNow('waitBeforeKick')
        elif transitions.shouldPositionForKick(player):
            return player.goNow('positionForKick')
        elif transitions.shouldTurnToBall_ApproachBall(player):
            return player.goLater('turnToBall')
        elif not player.brain.tracker.activeLocOn and \
                transitions.shouldScanFindBall(player):
            return player.goLater('scanFindBall')
    else:
        if transitions.shouldDribble(player):
            return player.goNow('dribble')
        elif transitions.shouldKick(player):
            return player.goNow('waitBeforeKick')
        elif transitions.shouldPositionForKick(player):
            return player.goNow('positionForKick')

    return approachBallWalk(player)