Reference

This is a raw reference guide for functions available in the SoccerSim.

Reference

Robot

setMotorSpeed

setMotorSpeed(motor, speed) Sets the motor speed, for a particular motor.

motor (String) motor name, e.g. 'motorA'
speed (Number) number between -100 and 100, a positive value drives the motor forwards.

// Spin the robot around
setMotorSpeed('motorA', 30);
setMotorSpeed('motorB', -30);

stopMotor

stopMotor(motor) Stops a particular motor.

motor (String) motor name, e.g. 'motorA'

// Stops both motors
stopMotor('motorA');
stopMotor('motorB');

getMotorSpeed

getMotorSpeed(motor) Returns the current speed of the motor.

motor (String) motor name, e.g. 'motorA'

if (getMotorSpeed('motorA') > 10) {
	// Speed is over 10
}

Sensors

getBallAngle

getBallAngle() Returns the current ball angle -180 <= angle < 180, relative to robot. If the ball is directly in front of the robot, the value is 0. Negative if on the left, positive on the right. The angle is calculated from the centre of the robot to the centre of the ball.

if (getBallAngle() > 0) {
	// Ball is on the right relative to the robot
}

getBallDistance

getBallDistance() Returns the current ball distance relative to the robot, in pixels. The distance is calculated from the centre of the robot to the centre of the ball.

if (getBallDistance() < 60) {
	// Ball is really close to the robot
}

getCompassHeading

getCompassHeading() Returns the current robot compass heading -180 <= angle < 180, relative to the robot. If the robot is facing directly forwards, the value is 0. Negative if facing the left, positive on the right.

if (getCompassHeading() > 20) {
	// Robot is facing to the right
}

setInitialPosition

setInitialPosition(position) Sets the initial position. Run this at or near the start of your program.

position (String) position string. One of: far-left, left, centre, right, far-right

The position is in increments of 50 pixels from the centre. E.g. far-left is 100 pixels from the centre.

// Places the robot on the far left.
setInitialPosition('far-left');