Apply bugfixes from Open House day

pykick/__main__.py

@@ -19,10 +19,10 @@ if __name__ == '__main__':
                 ball_min_radius=cfg['ball_min_radius'],
             )
 
-            striker.speak('tiger')
-            sleep(4.75)
+            # striker.speak('tiger')
+            # sleep(4.75)
             striker.mover.stand_up(1.0)
-            sleep(9)
+            # sleep(9)
             print('Initialized')
         striker.speak('Initialized')
 
@@ -132,7 +132,7 @@ if __name__ == '__main__':
                     sleep(0.3)
                     if success:
                         state = 'kick'
-                        striker.speak('hasta')
+                        # striker.speak('hasta')
                 except ValueError:
                     striker.ball_tracking()
 
@@ -159,9 +159,9 @@ if __name__ == '__main__':
                     else:
                         striker.speak('I succeeded, confirmed')
                         sleep(0.5)
-                        break
-
+                else:
                     striker.speak('I succeeded, presumably')
+
                 striker.mover.stand_up()
                 sleep(0.5)
                 striker.speak('Nice kick. Lets do the dance')

pykick/movements.py

@@ -32,8 +32,8 @@ class NaoMover(object):
         # [[(0, 1, 'ShoulderRoll', -70)], 0.5],
 
         # lean to the side using the ankle joints
-        [[(0, 1, 'AnkleRoll', -11),
-          (1, 1, 'AnkleRoll', -11)],
+        [[(0, 1, 'AnkleRoll', -12),
+          (1, 1, 'AnkleRoll', -12)],
          1],
 
         # lift the foot using the knee joint and the ankle joint

pykick/nao_defaults.json

@@ -39,6 +39,6 @@
         ]
     ], 
     "cam": 1, 
-    "ip": "192.168.0.11", 
+    "ip": "10.152.246.74", 
     "port": 9559
 }

pykick/striker.py

@@ -255,13 +255,13 @@ class Striker(object):
         """
         camera = 'upper'
         angles = self.get_ball_angles_from_camera(self.upper_camera)
-        if angles == None:
+        if angles is None:
             camera = 'lower'
             angles = self.get_ball_angles_from_camera(self.lower_camera)
-            if angles == None:
+            if angles is None:
                 raise ValueError('No ball in sight')
         y_angle = angles[1]
-        y_angle = pi/2 - y_angle - radians(15) - (radians(39)
+        y_angle = pi/2 - y_angle - radians(16.5) - (radians(39)
                                                     if camera == 'lower'
                                                     else 0)
         print('Ball distance through', camera, 'camera')
@@ -269,7 +269,7 @@ class Striker(object):
         return 0.5 * tan(y_angle)
 
     def walking_direction(self, lr, d, hypo):
-        return (asin(0.40 / d) if hypo == 'bdist' else atan(0.2 / d)) * lr
+        return (asin(0.43 / d) if hypo == 'bdist' else atan(0.23 / d)) * lr
 
     def ball_tracking(self, soll=0, tol=0.15):
         """Turn the robot to the ball, find the ball if cannot see it.