pavel/kick-it
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perform simple kick when ball and goal are aligned

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Jonas
2018-06-24 10:25:36 +02:00
parent cdd65bb22f
commit 45d55738c3
1 changed files with 12 additions and 3 deletions
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15
pykick/striker.py
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@@ -207,10 +207,13 @@ class Striker(object):
def align_to_goal(self): def align_to_goal(self):
ball_angles = self.get_ball_angles_from_camera(self.lower_camera) ball_angles = self.get_ball_angles_from_camera(self.lower_camera)
if ball_angles is None: if ball_angles is None:
raise ValueError('No ball') self.speak("Cannot see the ball")
#raise ValueError('No ball')
return false
x, y = ball_angles x, y = ball_angles
print(x, y) print(x, y)
self.speak("Turn to ball")
self.turn_to_ball(x, y, tol=0.15) self.turn_to_ball(x, y, tol=0.15)
goal_center_x = None goal_center_x = None
for i in range(3): for i in range(3):
@@ -220,20 +223,25 @@ class Striker(object):
) )
print('Goal center:', goal_center_x) print('Goal center:', goal_center_x)
if goal_center_x is not None and abs(goal_center_x) < 0.1: if goal_center_x is not None and abs(goal_center_x) < 0.1:
self.speak("Goal and ball are aligned")
print('Goal ball aligned!') print('Goal ball aligned!')
raise SystemExit #raise SystemExit
return True
if y > 0.35: if y > 0.35:
self.speak("moving backward")
self.mover.move_to(-0.05, 0, 0) self.mover.move_to(-0.05, 0, 0)
self.mover.wait() self.mover.wait()
# return False # return False
elif y < 0.25: elif y < 0.25:
self.speak("moving forward")
self.mover.move_to(0.05, 0, 0) self.mover.move_to(0.05, 0, 0)
self.mover.wait() self.mover.wait()
# return False # return False
self.mover.move_to(0, 0.2, 0) self.mover.move_to(0, 0.2, 0)
self.speak("Moving sideways")
print('Moving sideways') print('Moving sideways')
self.mover.wait() self.mover.wait()
print('Finished moving') print('Finished moving')
@@ -420,7 +428,8 @@ if __name__ == '__main__':
elif state == 'goal_align': elif state == 'goal_align':
# print(striker.ball_and_goal_search()) # print(striker.ball_and_goal_search())
striker.align_to_goal() if striker.align_to_goal():
state="simple_kick"
elif state == 'kick': elif state == 'kick':
print('KICK!') print('KICK!')