Merge pull request #87 from project-neon/feat/advance_when_penaly

Advance when penalty
project-neon · Oct 11, 2021 · de8e573 · de8e573
2 parents 7e34afb + b782bcd
commit de8e573
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Showing 4 changed files with 19 additions and 7 deletions.
diff --git a/entities/coach/larc2021.py b/entities/coach/larc2021.py
@@ -16,20 +16,30 @@ def __init__(self, match):
         penalty_play = plays.larc2021.PenaltyPlay(self)
         goalkick_play = plays.larc2021.GoalKickPlay(self)
 
+        defend_penalty_play = plays.larc2021.DefendPenaltyPlay(self)
+
         penalty_trigger = plays.OnPenaltyKick(self.match.game.referee, self.match.team_color)
-        seven_seconds_trigger = plays.WaitForTrigger(7)
+        penalty_seconds_trigger = plays.WaitForTrigger(12)
+        goalkick_seconds_trigger = plays.WaitForTrigger(9)
+        defendpenalty_seconds_trigger = plays.WaitForTrigger(9)
 
         goalkick_trigger = plays.OnGoalKick(self.match.game.referee, self.match.team_color)
+
+        defend_penalty_trigger = plays.OnPenaltyKick(self.match.game.referee, self.match.opposite_team_color)
 
         self.playbook.add_play(main_play)
         self.playbook.add_play(penalty_play)
         self.playbook.add_play(goalkick_play)
+        self.playbook.add_play(defend_penalty_play)
 
         main_play.add_transition(penalty_trigger, penalty_play)
-        penalty_play.add_transition(seven_seconds_trigger, main_play)
+        penalty_play.add_transition(penalty_seconds_trigger, main_play)
 
         main_play.add_transition(goalkick_trigger, goalkick_play)
-        goalkick_play.add_transition(seven_seconds_trigger, main_play)
+        goalkick_play.add_transition(goalkick_seconds_trigger, main_play)
+
+        main_play.add_transition(defend_penalty_trigger, defend_penalty_play)
+        defend_penalty_play.add_transition(defendpenalty_seconds_trigger, main_play)
 
         self.playbook.set_play(main_play)
 

diff --git a/entities/plays/larc2021/__init__.py b/entities/plays/larc2021/__init__.py
@@ -1,3 +1,5 @@
 from entities.plays.larc2021.mainPlay import MainPlay
 from entities.plays.larc2021.penaltyPlay import PenaltyPlay
-from entities.plays.larc2021.goalKickPlay import GoalKickPlay
+from entities.plays.larc2021.goalKickPlay import GoalKickPlay
+
+from entities.plays.larc2021.defendPenaltyPlay import DefendPenaltyPlay
diff --git a/entities/plays/larc2021/goalKickPlay.py b/entities/plays/larc2021/goalKickPlay.py
@@ -32,9 +32,9 @@ def get_positions(self, foul, team_color, foul_color, quadrant):
                 replacements.append(
                     {
                         "robot_id": 0, 
-                        "x": -field_size[0]/2 + 0.05,
+                        "x": -field_size[0]/2 + 0.1,
                         "y": 0.2,
-                        "orientation": 45
+                        "orientation": 60
                     }
                 )
             else:

diff --git a/main.py b/main.py
@@ -59,7 +59,7 @@ def update(self):
                 } for r in commands
             ]
             self.comm.send(commands)
-            
+
             if self.referee.get_foul() != "STOP" and self.referee.get_foul() != 7 and self.referee.get_foul() != None:
                 if self.match.coach.get_positions( self.referee.get_foul(), self.match.team_color.upper(), self.referee.get_color(), self.referee.get_quadrant() ):
                     self.referee.send_replacement(