# Kicker project

## Prerequisites

1. (L)ubuntu 14.04
2. Git installed:

```sh
sudo apt install git -y 
```

## How to start working

### To run code on the laptop

1. Install Python and Python NAOqi SDK: [instructions](
http://doc.aldebaran.com/2-1/dev/python/install_guide.html)

2. Check if NAOQi binding for Python works by launching Python and running
there `from naoqi import ALProxy`. The installation was successful if it
imports without errors. You can finish Python with `ctrl-d` then.

3. Go to the project directory and run:

```sh
python -m pykick
```

This will launch the striker state machine, which should work if colors are
calibrated correctly, and the robot is on the field, and there is one ball on
the field and no obstacles. And the goal is distinctive.

4. To run the scripts from the project other than the main one, do this from
the project directory:

```sh
python -m pykick.[file_name_without_.py]
```

To get an overview try

``sh
python -m pykick.colorpicker -h
python -m pykick.movements -h
``

### To run code on the robot

1. Create a folder named `pykick` on the robot.

2. Copy the files from the project's `pykick` folder into `pykick` on the
robot.

3. ssh to the robot, go to the directory containing the `pykick` folder and run
`python -m pykick` (the same as on the laptop).

## What's inside?

* `__main__.py` - The script containing the state machine. Read this to figure
out how everything fits together.
* `copyfiles.sh` - Script for convenient copying of the project files to the
robot (IP is hard-coded, so use with caution).
* `nao_defaults.json` - The settings such as color HSV values, and the NAOs IP
address
* `colorpicker.py` - Program for calibrating the colors. Run
`python -m pykick.colorpicker -h` to see how to use it.
* `detection_demo.py` - Program to check how good the robot can detect objects
with the current color settings.
* `striker.py` - The class with high lever behaviors, e.g. aligning to ball. If
you want to figure out our code, **START HERE**.
* `movements.py` - Convenience classes for moving robot. Also kick is
implemented here.
* `finders.py` - Classes for Ball, Goal and Field detection. Read this file if
you are curious about detection algorithms and the class interfaces.
* `imagereaders.py` - Convenience classes for capturing video input from
various sources.

**More documentation will be available later. For now see our report in
`documentation`**.
