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improved live_recognition_with_head.py

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Jonas
2018-06-01 14:46:53 +02:00
parent 31656dbada
commit 2010f2e374
1 changed files with 9 additions and 2 deletions
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11
scripts/live_recognition_with_head.py
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@@ -63,7 +63,7 @@ def set_angle_new(x,y):
ball_angle_x=ball_angles[0] ball_angle_x=ball_angles[0]
ball_angle_y=ball_angles[1] ball_angle_y=ball_angles[1]
print("ball_angle_x="+str(ball_angle_x)) print("ball_angle_x="+str(ball_angle_x))
#print("ball_angle_y="+str(ball_angle_y)) print("ball_angle_y="+str(ball_angle_y))
#ball_angle_x_diff=ball_angle_x+ #ball_angle_x_diff=ball_angle_x+
#ball_angle_y_diff=ball_angle_y-99 #ball_angle_y_diff=ball_angle_y-99
@@ -74,10 +74,17 @@ def set_angle_new(x,y):
#[-169.53343200683594, 99.27782440185547] (x_mid,y_mid) #[-169.53343200683594, 99.27782440185547] (x_mid,y_mid)
#if abs(ball_angle_x)>0.2 and abs(ball_angle_y)>0.01: #if abs(ball_angle_x)>0.2 and abs(ball_angle_y)>0.01:
#angles=[ball_angle_x,0] #angles=[ball_angle_x,0]
angles=[0.5*ball_angle_x,0.5*ball_angle_y] angles=[0.25*ball_angle_x,0.25*ball_angle_y]
if abs(ball_angle_x)>0.1 or abs(ball_angle_y)>0.1: if abs(ball_angle_x)>0.1 or abs(ball_angle_y)>0.1:
motionProxy.changeAngles(names, angles, fractionMaxSpeed) motionProxy.changeAngles(names, angles, fractionMaxSpeed)
elif abs(ball_angle_x)<0.1 and abs(ball_angle_y)<0.1: elif abs(ball_angle_x)<0.1 and abs(ball_angle_y)<0.1:
#tts = ALProxy("ALTextToSpeech", "192.168.0.11", 9559)
#tts.setParameter("pitchShift", 1)
#tts.setParameter("speed", 50)
#tts.setVoice("Kenny22Enhanced")
#tts.say("Ball found")
print("Ball found") print("Ball found")