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started work on sideways approach

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Pavel Lutskov
2018-06-29 13:52:32 +02:00
parent 82327ee8bb
commit 3a92d8530d
1 changed files with 17 additions and 30 deletions
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47
pykick/striker.py
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@@ -166,7 +166,6 @@ class Striker(object):
self.dy=1*tan(angle_to_walk) self.dy=1*tan(angle_to_walk)
print("Dy ist ----- "+str(self.dy)) print("Dy ist ----- "+str(self.dy))
print("Distance --------------- ="+str(distance)) print("Distance --------------- ="+str(distance))
print('Top camera\n') print('Top camera\n')
break break
@@ -184,7 +183,7 @@ class Striker(object):
print() print()
def run_to_ball(self): def run_to_ball(self):
self.mover.move_to_fast(1, self.dy, 0) self.mover.move_toward(1, 3 * self.dy, 0)
def turn_to_ball(self, ball_x, ball_y, tol=0.15, soll=0, fancy=False, def turn_to_ball(self, ball_x, ball_y, tol=0.15, soll=0, fancy=False,
m_delta=0.2): m_delta=0.2):
@@ -315,7 +314,6 @@ class Striker(object):
def close(self): def close(self):
self.is_over = True self.is_over = True
self.tts_thread.join() self.tts_thread.join()
self.mover.rest()
self.upper_camera.close() self.upper_camera.close()
self.lower_camera.close() self.lower_camera.close()
@@ -420,25 +418,28 @@ if __name__ == '__main__':
if args.stand: if args.stand:
striker.mover.stand_up() striker.mover.stand_up()
striker.close()
elif args.rest: elif args.rest:
striker.mover.rest() striker.mover.rest()
striker.close()
# perform a (fancy) kick # perform a (fancy) kick
elif args.kick: elif args.kick:
striker.mover.stand_up() striker.mover.stand_up()
striker.mover.kick(fancy=True) striker.mover.kick(fancy=True)
striker.close()
# perform normal state-machine if no input argument is given # perform normal state-machine if no input argument is given
# (see diagram above) # (see diagram above)
else: else:
try: # Hit Ctrl-C to stop, cleanup and exit try: # Hit Ctrl-C to stop, cleanup and exit
state = 'tracking' state = 'tracking'
init_soll = 0.0 # init_soll = 0.0
align_start = 0.15 # align_start = 0.15
curve_start = -0.1 # curve_start = -0.1
curve_stop = 0.1 # curve_stop = 0.1
soll = init_soll # soll = init_soll
while True: while True:
# meassure time for debbuging # meassure time for debbuging
@@ -447,33 +448,19 @@ if __name__ == '__main__':
if state == 'tracking': if state == 'tracking':
# start ball approach when ball is visible # start ball approach when ball is visible
print('Soll angle', soll) print('Soll angle')
striker.ball_tracking(soll=soll, tol=0.20) striker.ball_tracking(tol=0.05)
state = 'ball_approach' state = 'ball_approach'
elif state == 'ball_approach': elif state == 'ball_approach':
bil = striker.get_ball_angles_from_camera( # bil = striker.get_ball_angles_from_camera(
striker.lower_camera # striker.lower_camera
) # Ball in lower # ) # Ball in lower
print('Ball in lower', bil)
if bil is not None: # print('Ball in lower', bil)
if bil[1] > curve_start:
soll = 0
# if bil[1] > curve_start and bil[1] < curve_stop:
striker.speak('Going linear')
# soll = (-init_soll / (curve_stop - curve_start)
# * bil[1] +
# init_soll
# / (curve_stop - curve_start) * curve_stop)
if bil[1] > align_start:
print('Ball is close enough, stop approach')
striker.mover.stop_moving()
striker.speak('Aligning to ball now')
state = 'simple_kick'
continue
print('Continue running') print('Continue running')
striker.run_to_ball() striker.run_to_ball()
state = 'tracking' # state = 'tracking'
elif state == 'goal_align': elif state == 'goal_align':
try: try: