Ethan

Classes/Ball.py

@@ -21,20 +21,5 @@ def move(self):
 
     def setSpeed(self,v):
         self.v = v
-
-
     def getSpeed(self):
-        """Returns the speed of the ball as a list, index 0 is the velocity of the ball while index 1 is the direction of the ball (in degrees).
-            \nIf you want the velocity in one direction make sure you use math.sin or math.cos.\nTo get the x speed use math.sin, its weird but its correct"""
-        return self.v
-
-    def getXSpeed(self):
-        return self.v[0]*math.sin(math.radians(self.v[1]))
-
-    def getYSpeed(self):
-        return self.v[0]*math.cos(math.radians(self.v[1]))
-
-    def resetToMiddle(self):
-        self.xpos = WIDTH //2
-        self.ypos = HEIGHT //2
-
+        return self.v

Classes/Globals.py

@@ -19,7 +19,6 @@
 GREY = (128,128,128)
 TURQUOISE = (64,224,208)
 
-score = [0, 0] # index 0 is red team and index 1 is blue team
 
 
 
@@ -54,10 +53,7 @@ def draw_robots(win, robot_list):
 def draw(win, robot_list):
     win.fill(WHITE)
     draw_robots(win, robot_list)
-    draw_score(win, score)
     pygame.display.update()
-
-
 def updateBall(robot, ball):
 
     if robot.hasball:
@@ -84,58 +80,7 @@ def algorithm(robot2, robot3, ball, goal):
         if getRBD(robot2, goal)+1>=robot2.getDegree()>=getRBD(robot2, goal)-1:
             robot2.throwBall()
 
-def control(robot, event, ball):
-     if event.type == pygame.TEXTINPUT:
-                if event.text =="r":
-                    robot.up()
-                elif event.text == "s":
-                    robot.down()
 
-                if event.text == "y":
-                    robot.left()
-                elif event.text == "t":
-                    robot.right()
-                if event.text == "a":
-                    robot.turnLeft()
-                    print(getBallDist(robot, ball))
-                elif event.text == "d":
-                    robot.turnRight()
-                if event.text == "w":
-                    robot.foreward()
-                if event.text == "q":
-                    if getBallDist(robot, ball)< 5:
-                        robot.grabBall(ball)
-                elif event.text == "x":
-                    robot.throwBall()
-                updateBall(robot, ball)
                 #print(robot.front[2])
-
-def draw_score(window, score):
-    # create a font object.
-    # 1st parameter is the font file
-    # which is present in pygame.
-    # 2nd parameter is size of the font
-    font = pygame.font.Font('freesansbold.ttf', 32)
-
-    # create a text surface object,
-    # on which text is drawn on it.
-    textRed = font.render(f'Red Team: {score[0]}', True, RED, WHITE)
-    textBlue = font.render(f'Blue Team: {score[1]}', True, BLUE, WHITE)
-
-
-    # create a rectangular object for the
-    # text surface object
-    textRedRect = textRed.get_rect()
-    textRedRect.center = (WIDTH // 2 - 150, 100)
-
-    textBlueRect = textBlue.get_rect()
-    textBlueRect.center = (WIDTH // 2 + 150, 100)
-
-    # copying the text surface object
-    # to the display surface object
-    # at the center coordinate.
-    WIN.blit(textRed, textRedRect)
-    WIN.blit(textBlue, textBlueRect)
-
-def resetScore():
-    score = [0,0]
+     #if event.type == pygame.KEYUP:
+      #          if

Classes/Goal.py

@@ -1,7 +1,5 @@
 
 import pygame
-from Classes.Ball import Ball # you can also import *
-from Classes.Globals import *
 class Goal:
     def __init__(self, xpos, ypos, width, height, team, color):
         self.xpos = xpos-(width/2)
@@ -13,40 +11,4 @@ def __init__(self, xpos, ypos, width, height, team, color):
 
     def draw(self,win):
         #not tested
-        pygame.draw.rect(win, self.color, (self.xpos, self.ypos, self.width,self.height))
-
-    def scoreGoal(self, ball: Ball) -> bool:
-        # if goal is on the left
-        if self.xpos < 400:
-            # if inside the net
-            # ball is on the left side of the net   AND ball is below the top of the net   AND ball is also above the bottom of the net
-            if (ball.xpos <= self.xpos + self.width) and (ball.ypos > self.ypos and ball.ypos < self.ypos + self.height): 
-                # if ball is going towards the net
-                # idk if it should be less than or EQUAL to but why not
-                if ball.getXSpeed() <= 0:
-                    score [1] +=1
-                    ball.resetToMiddle()
-                    ball.setSpeed([0,0])
-                    return True
-
-
-        # if goal is on the right
-        else:
-
-            # if inside the net
-            # if ball is on the right side of the net AND ball is below the top of the net   AND ball is also above the bottom of the net
-            if (ball.xpos >= self.xpos) and  (ball.ypos > self.ypos and ball.ypos < self.ypos + self.height):
-                # idk if it should be greater than or EQUAL to but why not
-                if ball.getXSpeed() >= 0:
-                    score [0] +=1
-                    ball.resetToMiddle()
-                    ball.setSpeed([0,0])
-                    return True
-        return False
-
-
-
-
-
-
-
+        pygame.draw.rect(win, self.color, (self.xpos, self.ypos, self.width,self.height))

Classes/Robot.py

@@ -1,7 +1,8 @@
 import pygame
 import math
+from Classes.Globals import * # to import all global variables
 class Robot:
-    def __init__(self, speed,turn_speed, xpos, ypos, color,radius):
+    def __init__(self, speed,turn_speed, xpos, ypos, color,radius, directions):
         self.turn_speed = turn_speed #deg per frame
         self.xpos = xpos
         self.ypos = ypos
@@ -14,7 +15,8 @@ def __init__(self, speed,turn_speed, xpos, ypos, color,radius):
         self.accel = 1
         self.front = [xpos,ypos+radius, 0]#initially looks down at 0 deg
         self.power = 0
-
+        self.directions = directions
+
     def get_turn_speed(self):
         return self.turn_speed
     def up(self):
@@ -78,5 +80,70 @@ def draw(self, win):
         #try give claw to indicate front
         #Spygame.draw.rect(win, self.color,())
 
+    def control(robot, event, ball): # control checks which keys are pressed and updates the robot's movement booleans
+        # 0 forward
+        # 1 backward
+        # 2 left
+        # 3 right
+        # 4 turn left
+        # 5 turn right
+        # 6 up
+        # 7 down
+        # F and B are respective to the front of the robot, while all others are headless
+     if event.type == pygame.KEYDOWN:
+                if event.key == pygame.K_f:
+                    robot.directions[0] = True
+                elif event.key == pygame.K_b:
+                    robot.directions[1] = True
+                if event.key == pygame.K_a:
+                    robot.directions[2] = True
+                elif event.key == pygame.K_d:
+                    robot.directions[3] = True
+                if event.key == pygame.K_z:
+                    robot.directions[4] = True
+                elif event.key == pygame.K_x:
+                    robot.directions[5] = True
+                if event.key == pygame.K_w:
+                    robot.directions[6] = True
+                elif event.key == pygame.K_s:
+                    robot.directions[7] = True
+     if event.type == pygame.KEYUP:
+                if event.key == pygame.K_f:
+                    robot.directions[0] = False
+                elif event.key == pygame.K_b:
+                    robot.directions[1] = False
+                if event.key == pygame.K_a:
+                    robot.directions[2] = False
+                elif event.key == pygame.K_d:
+                    robot.directions[3] = False
+                if event.key == pygame.K_z:
+                    robot.directions[4] = False
+                elif event.key == pygame.K_x:
+                    robot.directions[5] = False
+                if event.key == pygame.K_w:
+                    robot.directions[6] = False
+                elif event.key == pygame.K_s:
+                    robot.directions[7] = False
+    def drive(robot):
+        if (robot.directions[0] == True):
+            robot.foreward()
+        if (robot.directions[1] == True):
+            robot.backward()
+        if (robot.directions[2] == True):
+            robot.left()
+        if (robot.directions[3] == True):
+            robot.right()
+        if (robot.directions[4] == True):
+            robot.turnLeft()
+        if (robot.directions[5] == True):
+            robot.turnRight()
+        if (robot.directions[6] == True):
+            robot.up()
+        if (robot.directions[7] == True):
+            robot.down()
+
+
     def __lt__(self, other):
         return False
+
+

README.md

@@ -1,2 +1,2 @@
 # RobocupSim
-sim for robocup
+My branch focuses on the Robot Class, where I updated the movement system to allow for diagonal movement and simultainous movement/rotation operations. Work was also done on the Globals class, where methods such as control were changed and relocated to the Robot class