From 3cd67a783ac614fa2c3be5e6b51e51e8c580d3f8 Mon Sep 17 00:00:00 2001
From: Jonas <ge69jum@mytum.de>
Date: Sun, 27 May 2018 18:05:39 +0200
Subject: [PATCH] added scan_for_ball.py

---
 scripts/scan_for_ball.py | 60 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 60 insertions(+)
 create mode 100644 scripts/scan_for_ball.py

diff --git a/scripts/scan_for_ball.py b/scripts/scan_for_ball.py
new file mode 100644
index 0000000..726e7a5
--- /dev/null
+++ b/scripts/scan_for_ball.py
@@ -0,0 +1,60 @@
+# -*- encoding: UTF-8 -*-
+# syntax
+# python setangles.py x y
+
+import sys
+from naoqi import ALProxy
+import time
+
+def main(robotIP):
+    PORT = 9559
+
+    try:
+        motionProxy = ALProxy("ALMotion", robotIP, PORT)
+    except Exception,e:
+        print "Could not create proxy to ALMotion"
+        print "Error was: ",e
+        sys.exit(1)
+
+    # activiert gelenke
+    motionProxy.setStiffnesses("Head", 1.0)
+
+    # Example showing how to set angles, using a fraction of max speed
+    names  = ["HeadYaw", "HeadPitch"]
+    
+    # go into left direction        
+    i=0
+    while i<2:
+       angles = [i,0]
+       fractionMaxSpeed =0.5    
+       motionProxy.setAngles(names, angles, fractionMaxSpeed)
+       i=float(i)+3.14/4
+       time.sleep(0.3)
+
+    # go back to middle position
+    angles = [0,0]
+    fractionMaxSpeed =0.5    
+    motionProxy.setAngles(names, angles, fractionMaxSpeed)
+    print "head set back"
+    time.sleep(0.3)
+
+    # go into the right direction
+    i=0
+    while i > -2:
+       angles = [i,0]
+       fractionMaxSpeed =0.5    
+       motionProxy.setAngles(names, angles, fractionMaxSpeed)
+       i=i-3.14/4
+       time.sleep(0.3)
+
+    # go back to middle position
+    angles = [0,0]
+    fractionMaxSpeed =0.5    
+    motionProxy.setAngles(names, angles, fractionMaxSpeed)
+    print "head set back"
+    time.sleep(1)
+
+if __name__ == "__main__":
+    robotIp = "192.168.0.11"
+
+    main(robotIp)