From 0823eac2289988d24df8edc5642cbb9681e59fb0 Mon Sep 17 00:00:00 2001
From: Jonas <ge69jum@mytum.de>
Date: Tue, 12 Jun 2018 11:53:18 +0200
Subject: [PATCH] head moves back when ball is found. This ensures, that the
 robot can find the ball properly while rotating

---
 pykick/ball_approach.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pykick/ball_approach.py b/pykick/ball_approach.py
index 1107a5f..edd3130 100644
--- a/pykick/ball_approach.py
+++ b/pykick/ball_approach.py
@@ -85,7 +85,7 @@ class BallFollower(object):
         if abs(yaw) > 0.4:
             # self.counter = 0
             print('Going to rotate')
-            # self.mover.set_head_angles(0, 0, 0.05)
+            self.mover.set_head_angles(0, 0, 0.5)
             self.mover.move_to(0, 0, yaw)
             self.mover.wait()
         if self.run_after:
@@ -107,7 +107,7 @@ if __name__ == '__main__':
         hsv_lower=tuple(map(cfg.get, ('low_h', 'low_s', 'low_v'))),
         hsv_upper=tuple(map(cfg.get, ('high_h', 'high_s', 'high_v'))),
         min_radius=cfg['min_radius'],
-        run_after=False
+        run_after=True
     )
     try:
         while True: