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More work on goal-ball alignment

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This commit is contained in:
Pavel Lutskov
2018-06-23 20:50:28 +02:00
parent 73ca100c83
commit 67a8cccd51
5 changed files with 33 additions and 21 deletions
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21
pykick/striker.py
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@@ -212,12 +212,14 @@ class Striker(object):
print(x, y)
self.turn_to_ball(x, y, tol=0.15)
goal_center_x = self.get_goal_center_angle_from_camera(
self.upper_camera
)
goal_center_x = None
for i in range(3):
if goal_center_x is None:
goal_center_x = self.get_goal_center_angle_from_camera(
self.upper_camera
)
print('Goal center:', goal_center_x)
if goal_center_x is not None and abs(goal_center_x) < 0.01:
if goal_center_x is not None and abs(goal_center_x) < 0.1:
print('Goal ball aligned!')
raise SystemExit
@@ -232,7 +234,9 @@ class Striker(object):
# return False
self.mover.move_to(0, 0.2, 0)
print('Moving sideways')
self.mover.wait()
print('Finished moving')
return False
def close(self):
@@ -362,7 +366,7 @@ if __name__ == '__main__':
# (see diagram above)
else:
try: # Hit Ctrl-C to stop, cleanup and exit
state = 'goal_align'
state = 'tracking'
# t = None
while True:
# meassure time for debbuging
@@ -381,10 +385,10 @@ if __name__ == '__main__':
striker.lower_camera
)
print(ball_in_lower)
if (ball_in_lower is not None and ball_in_lower[1] > 0.10):
if (ball_in_lower is not None and ball_in_lower[1] > 0):
print('Ball is close enough, stop approach')
striker.mover.stop_moving()
striker.say('Align to goal')
striker.speak('Align to goal')
state = 'goal_align'
else:
print('Continue running')
@@ -425,5 +429,6 @@ if __name__ == '__main__':
loop_end = time()
print('Loop time:', loop_end - loop_start)
print('\n\n')
finally:
striker.close()