pavel/kick-it
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Striker can sometimes score the goal

Browse Source
This commit is contained in:
Pavel Lutskov
2018-06-24 15:44:07 +02:00
parent a4b8ff032c
commit 0fbd6f7841
1 changed files with 4 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
pykick/striker.py
View File

@@ -246,7 +246,7 @@ class Striker(object):
# return False # return False
sign = -1 if goal_center_x > 0 else 1 sign = -1 if goal_center_x > 0 else 1
num_steps = int(min(abs(goal_center_x), 0.2) // 0.05) num_steps = int(min(abs(goal_center_x), 0.15) // 0.05)
self.speak("Moving sideways") self.speak("Moving sideways")
print('Moving sideways') print('Moving sideways')
for _ in range(num_steps): for _ in range(num_steps):
@@ -289,8 +289,7 @@ class Striker(object):
# | | # | |
# | | | # | | |
# | | | # | | |
# | v | # | v | # | Ball in lower cam? |
# | Ball in lower cam? |
# | / \ | # | / \ |
# lost | yes / \ cannot do | # lost | yes / \ cannot do |
# ball | v v | # ball | v v |
@@ -309,9 +308,7 @@ class Striker(object):
# check if ball visible ---> rotate head to the ball # check if ball visible ---> rotate head to the ball
# ^ | | # ^ | |
# | | no | # | | no |
# | v | # | v | # +--- ball scan rotation | # | |
# +--- ball scan rotation |
# | |
# | no V # | no V
# | +---------- already rotating body? # | +---------- already rotating body?
# | | | # | | |
@@ -394,7 +391,7 @@ if __name__ == '__main__':
striker.lower_camera striker.lower_camera
) )
print(ball_in_lower) print(ball_in_lower)
if (ball_in_lower is not None and ball_in_lower[1] > 0): if (ball_in_lower is not None and ball_in_lower[1] > 0.25):
print('Ball is close enough, stop approach') print('Ball is close enough, stop approach')
striker.mover.stop_moving() striker.mover.stop_moving()
striker.speak('Align to goal') striker.speak('Align to goal')