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Improving sideways approach

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This commit is contained in:
Pavel Lutskov
2018-06-30 12:45:05 +02:00
parent ffeed426e6
commit 5c4cfa0842
2 changed files with 45 additions and 57 deletions
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47
pykick/striker.py
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@@ -219,8 +219,7 @@ class Striker(object):
self.mover.move_to(d, 0, 0)
self.mover.wait()
def turn_to_ball(self, ball_x, ball_y, tol=0.15, soll=0, fancy=False,
m_delta=0.2):
def turn_to_ball(self, ball_x, ball_y, tol=0.15, soll=0):
"""Align robot to the ball.
If head is not centered at the ball (within tolerance), then
@@ -245,43 +244,19 @@ class Striker(object):
print('Head yaw', head_yaw, end=' ')
d_yaw = head_yaw - soll
print('Head d_yaw', d_yaw)
print('Rotating', self.rotating, end=' ')
print('Rotation direction', self.rot_dir, end=' ')
print('Allowed tolerance', tol)
if not fancy:
if abs(d_yaw) > tol:
self.mover.stop_moving()
print('Going to rotate by', d_yaw)
self.speak('Going to rotate')
self.mover.set_head_angles(soll, head_pitch, 0.3)
self.mover.move_to(0, 0, d_yaw)
self.mover.wait()
return False
else:
print('Ball locked')
return True
if abs(d_yaw) > tol:
self.mover.stop_moving()
print('Going to rotate by', d_yaw)
self.speak('Going to rotate')
self.mover.set_head_angles(soll, head_pitch, 0.3)
self.mover.move_to(0, 0, d_yaw)
self.mover.wait()
return False
else:
if not self.rotating:
if abs(d_yaw) > tol:
self.mover.stop_moving()
self.rotating = True
self.rot_dir = -1 if d_yaw > 0 else 1
print('Going to rotate')
self.speak("Going to rotate")
self.mover.move_toward(0, 0, -self.rot_dir)
# sleep(1.5)
return False
else:
print('Success')
# self.speak('Ball locked')
return True
else:
if d_yaw * self.rot_dir > -tol - m_delta:
self.rotating = False
self.mover.stop_moving()
return False
print('Ball locked')
return True
def align_to_ball(self):
ball_angles = self.get_ball_angles_from_camera(self.lower_camera,