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live_recognition_with_head further improved

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Jonas
2018-06-01 14:39:06 +02:00
parent 8c1707c3b4
commit 31656dbada
1 changed files with 9 additions and 6 deletions
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15
scripts/live_recognition_with_head.py
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@@ -47,9 +47,9 @@ def set_angle_new(x,y):
motionProxy = ALProxy("ALMotion", robotIP, PORT)
# activiert gelenke
motionProxy.setStiffnesses("Head", 1.0)
motionProxy.setStiffnesses("Head", 0.5)
names = ["HeadYaw", "HeadPitch"]
fractionMaxSpeed = 0.05
fractionMaxSpeed = 0.1
#x_mid=160
#y_mid=120
#x_diff=x-x_mid
@@ -62,8 +62,8 @@ def set_angle_new(x,y):
#print(ball_angles)
ball_angle_x=ball_angles[0]
ball_angle_y=ball_angles[1]
#print("ball_angle_x="+str(ball_angle_x))
print("ball_angle_y="+str(ball_angle_y))
print("ball_angle_x="+str(ball_angle_x))
#print("ball_angle_y="+str(ball_angle_y))
#ball_angle_x_diff=ball_angle_x+
#ball_angle_y_diff=ball_angle_y-99
@@ -74,8 +74,11 @@ def set_angle_new(x,y):
#[-169.53343200683594, 99.27782440185547] (x_mid,y_mid)
#if abs(ball_angle_x)>0.2 and abs(ball_angle_y)>0.01:
#angles=[ball_angle_x,0]
#angles=[0,ball_angle_y]
#motionProxy.setAngles(names, angles, fractionMaxSpeed)
angles=[0.5*ball_angle_x,0.5*ball_angle_y]
if abs(ball_angle_x)>0.1 or abs(ball_angle_y)>0.1:
motionProxy.changeAngles(names, angles, fractionMaxSpeed)
elif abs(ball_angle_x)<0.1 and abs(ball_angle_y)<0.1:
print("Ball found")