From 5c55770b03cfe57950896e5ba36a3feb024f8d97 Mon Sep 17 00:00:00 2001
From: Pavel Lutskov <pavel.lutskov@gmail.com>
Date: Mon, 12 Nov 2018 13:48:43 +0100
Subject: [PATCH] added entry points

---
 README.md           | 28 ++++++++++++++++++++--------
 pykick/movements.py |  5 +++--
 pykick/striker.py   |  2 +-
 3 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/README.md b/README.md
index 77822eb..29cfe73 100644
--- a/README.md
+++ b/README.md
@@ -16,9 +16,9 @@ sudo apt install git -y
 1. Install Python and Python NAOqi SDK: [instructions](
 http://doc.aldebaran.com/2-1/dev/python/install_guide.html)
 
-2. Check if NAOQi binding for Python works by launching Python and running there
-`from naoqi import ALProxy`. The installation was successful if it imports
-without errors. You can finish Python with `ctrl-d` then.
+2. Check if NAOQi binding for Python works by launching Python and running
+there `from naoqi import ALProxy`. The installation was successful if it
+imports without errors. You can finish Python with `ctrl-d` then.
 
 3. Go to the project directory and run:
 
@@ -27,7 +27,8 @@ python -m pykick
 ```
 
 This will launch the striker state machine, which should work if colors are
-calibrated correctly.
+calibrated correctly, and the robot is on the field, and there is one ball on
+the field and no obstacles. And the goal is distinctive.
 
 4. To run the scripts from the project other than the main one, do this from
 the project directory:
@@ -36,6 +37,13 @@ the project directory:
 python -m pykick.[file_name_without_.py]
 ```
 
+To get an overview try
+
+``sh
+python -m pykick.colorpicker -h
+python -m pykick.movements -h
+``
+
 ### To run code on the robot
 
 1. Create a folder named `pykick` on the robot.
@@ -48,18 +56,22 @@ robot.
 
 ## What's inside?
 
-* `__main__.py` - The script containing the state machine.
+* `__main__.py` - The script containing the state machine. Read this to figure
+out how everything fits together.
 * `copyfiles.sh` - Script for convenient copying of the project files to the
 robot (IP is hard-coded, so use with caution).
-* `nao_defaults.json` - The settings such as color HSV values.
+* `nao_defaults.json` - The settings such as color HSV values, and the NAOs IP
+address
 * `colorpicker.py` - Program for calibrating the colors. Run
 `python -m pykick.colorpicker -h` to see how to use it.
 * `detection_demo.py` - Program to check how good the robot can detect objects
 with the current color settings.
-* `striker.py` - The class with high lever behaviors, e.g. aligning to ball.
+* `striker.py` - The class with high lever behaviors, e.g. aligning to ball. If
+you want to figure out our code, **START HERE**.
 * `movements.py` - Convenience classes for moving robot. Also kick is
 implemented here.
-* `finders.py` - Classes for Ball, Goal and Field detection.
+* `finders.py` - Classes for Ball, Goal and Field detection. Read this file if
+you are curious about detection algorithms and the class interfaces.
 * `imagereaders.py` - Convenience classes for capturing video input from
 various sources.
 
diff --git a/pykick/movements.py b/pykick/movements.py
index 238f850..dcdd824 100644
--- a/pykick/movements.py
+++ b/pykick/movements.py
@@ -251,8 +251,6 @@ class NaoMover(object):
 
 
 if __name__ == '__main__':
-    cfg = read_config()
-    mover = NaoMover(cfg['ip'], cfg['port'])
     parser = argparse.ArgumentParser()
     actions = parser.add_mutually_exclusive_group()
     actions.add_argument("-s", "--stand", action="store_true",
@@ -268,6 +266,9 @@ if __name__ == '__main__':
 
     args = parser.parse_args()
 
+    cfg = read_config()
+    mover = NaoMover(cfg['ip'], cfg['port'])
+
     if args.stand:
         mover.stand_up()
 
diff --git a/pykick/striker.py b/pykick/striker.py
index 83452e2..071dc9e 100644
--- a/pykick/striker.py
+++ b/pykick/striker.py
@@ -250,7 +250,7 @@ class Striker(object):
         Raises
         ------
         ValueError
-        The ball could not be seen :(
+            The ball could not be seen :(
 
         """
         camera = 'upper'