added stand rest and kick as inputarguments to stricker.py
This commit is contained in:
Jonas
@@ -8,7 +8,7 @@ from .utils import read_config
|
||||
from .imagereaders import NaoImageReader
|
||||
from .finders import BallFinder, GoalFinder
|
||||
from .movements import NaoMover
|
||||
|
||||
import sys
|
||||
|
||||
class Striker(object):
|
||||
|
||||
@@ -271,90 +271,110 @@ if __name__ == '__main__':
|
||||
ball_min_radius=cfg['ball_min_radius'],
|
||||
run_after=False
|
||||
)
|
||||
|
||||
|
||||
|
||||
args=''
|
||||
try:
|
||||
# start with ball tracking first
|
||||
state = 'tracking'
|
||||
|
||||
# state machine of the striker
|
||||
while True:
|
||||
args=sys.argv[1]
|
||||
except:
|
||||
print("error")
|
||||
|
||||
# start time meassure for debbuging
|
||||
loop_start = time()
|
||||
if args:
|
||||
if args == 'stand':
|
||||
striker.mover.stand_up()
|
||||
elif args == 'rest':
|
||||
striker.mover.rest()
|
||||
elif args == 'kick':
|
||||
striker.mover.stand_up()
|
||||
striker.mover.kick()
|
||||
striker.mover.rest()
|
||||
|
||||
else:
|
||||
|
||||
# print the current state of the state machine
|
||||
print('State:', state)
|
||||
|
||||
# actions in the tracking state
|
||||
if state == 'tracking':
|
||||
try:
|
||||
# start with ball tracking first
|
||||
state = 'tracking'
|
||||
|
||||
# state machine of the striker
|
||||
while True:
|
||||
|
||||
# start ball approach when ball is visible
|
||||
if striker.ball_tracking():
|
||||
state = 'ball_approach'
|
||||
# start time meassure for debbuging
|
||||
loop_start = time()
|
||||
|
||||
# actions in the ball_approach state
|
||||
elif state == 'ball_approach':
|
||||
# print the current state of the state machine
|
||||
print('State:', state)
|
||||
|
||||
# get the angle of the ball in the picture of the lower camera
|
||||
ball_in_lower = striker.get_ball_angles_from_camera(
|
||||
striker.video_bot
|
||||
)
|
||||
# actions in the tracking state
|
||||
if state == 'tracking':
|
||||
|
||||
# print the angle of the ball in the lower camera
|
||||
print(ball_in_lower)
|
||||
# start ball approach when ball is visible
|
||||
if striker.ball_tracking():
|
||||
state = 'ball_approach'
|
||||
|
||||
# check if the ball is in the lower camera
|
||||
# and the angle is above a specific threshold (ball is close enough)
|
||||
if (ball_in_lower is not None
|
||||
and ball_in_lower[1] > 0.28):
|
||||
# actions in the ball_approach state
|
||||
elif state == 'ball_approach':
|
||||
|
||||
print('Ball is in lower camera, go to align')
|
||||
#striker.mover.stop_moving()
|
||||
#state = 'align'
|
||||
# get the angle of the ball in the picture of the lower camera
|
||||
ball_in_lower = striker.get_ball_angles_from_camera(
|
||||
striker.video_bot
|
||||
)
|
||||
|
||||
# perform a simple kick
|
||||
state='simple_kick'
|
||||
# print the angle of the ball in the lower camera
|
||||
print(ball_in_lower)
|
||||
|
||||
# continue moving, if the ball is not close enough
|
||||
# or not in the view of the lower camera
|
||||
else:
|
||||
print('Continue running')
|
||||
striker.run_to_ball()
|
||||
# check if the ball is in the lower camera
|
||||
# and the angle is above a specific threshold (ball is close enough)
|
||||
if (ball_in_lower is not None
|
||||
and ball_in_lower[1] > 0.28):
|
||||
|
||||
# go back to the tracking state
|
||||
state = 'tracking'
|
||||
print('Ball is in lower camera, go to align')
|
||||
#striker.mover.stop_moving()
|
||||
#state = 'align'
|
||||
|
||||
# actions in the simple_kick state
|
||||
elif state == 'simple_kick':
|
||||
#striker.mover.set_head_angles(0,0.25,0.3)
|
||||
print('Doing the simple kick')
|
||||
# perform a simple kick
|
||||
state='simple_kick'
|
||||
|
||||
# just walk a short distance straight forward,
|
||||
# as the ball should be straight ahead in a small distance
|
||||
striker.mover.move_to(0.3,0,0)
|
||||
striker.mover.wait()
|
||||
# continue moving, if the ball is not close enough
|
||||
# or not in the view of the lower camera
|
||||
else:
|
||||
print('Continue running')
|
||||
striker.run_to_ball()
|
||||
|
||||
# go back to the tracking state after the simple_kick
|
||||
state = 'tracking'
|
||||
# go back to the tracking state
|
||||
state = 'tracking'
|
||||
|
||||
elif state == 'align':
|
||||
striker.mover.set_head_angles(0, 0.25, 0.3)
|
||||
sleep(0.5)
|
||||
try:
|
||||
success = striker.align_to_ball()
|
||||
sleep(0.3)
|
||||
if success:
|
||||
state = 'kick'
|
||||
except ValueError:
|
||||
striker.mover.set_head_angles(0, 0, 0.3)
|
||||
state = 'tracking'
|
||||
elif state == 'kick':
|
||||
print('KICK!')
|
||||
striker.mover.kick()
|
||||
break
|
||||
# actions in the simple_kick state
|
||||
elif state == 'simple_kick':
|
||||
#striker.mover.set_head_angles(0,0.25,0.3)
|
||||
print('Doing the simple kick')
|
||||
|
||||
# stop time meassuring for debbuging and print the time of the loop
|
||||
loop_end = time()
|
||||
print('Loop time:', loop_end - loop_start)
|
||||
finally:
|
||||
striker.close()
|
||||
# just walk a short distance straight forward,
|
||||
# as the ball should be straight ahead in a small distance
|
||||
striker.mover.move_to(0.3,0,0)
|
||||
striker.mover.wait()
|
||||
|
||||
# go back to the tracking state after the simple_kick
|
||||
state = 'tracking'
|
||||
|
||||
elif state == 'align':
|
||||
striker.mover.set_head_angles(0, 0.25, 0.3)
|
||||
sleep(0.5)
|
||||
try:
|
||||
success = striker.align_to_ball()
|
||||
sleep(0.3)
|
||||
if success:
|
||||
state = 'kick'
|
||||
except ValueError:
|
||||
striker.mover.set_head_angles(0, 0, 0.3)
|
||||
state = 'tracking'
|
||||
elif state == 'kick':
|
||||
print('KICK!')
|
||||
striker.mover.kick()
|
||||
break
|
||||
|
||||
# stop time meassuring for debbuging and print the time of the loop
|
||||
loop_end = time()
|
||||
print('Loop time:', loop_end - loop_start)
|
||||
finally:
|
||||
striker.close()
|
||||
|
||||
Reference in New Issue
Block a user