From 6d9d522692d951ac6afc855bb5aad857a4605c61 Mon Sep 17 00:00:00 2001
From: Pavel Lutskov <pavel.lutskov@gmail.com>
Date: Sat, 30 Jun 2018 16:16:19 +0200
Subject: [PATCH] The run from the videos

---
 pykick/__main__.py | 5 +++--
 pykick/striker.py  | 9 +++++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/pykick/__main__.py b/pykick/__main__.py
index 28deee4..e6cb476 100644
--- a/pykick/__main__.py
+++ b/pykick/__main__.py
@@ -63,7 +63,7 @@ if __name__ == '__main__':
             elif state == 'tracking':
                 # start ball approach when ball is visible
                 print('Soll angle')
-                striker.ball_tracking(tol=0.05)
+                striker.ball_tracking(tol=0.15)
                 # break
                 if approach_steps < 2:
                     state = 'ball_approach'
@@ -74,7 +74,7 @@ if __name__ == '__main__':
                 bil = striker.get_ball_angles_from_camera(
                     striker.lower_camera
                 )  # Ball in lower
-                print(bil)
+                print('Ball in lower!', bil)
                 if bil is not None and bil[1] > 0.15:
                     striker.speak('Ball is close enough, stop approach')
                     striker.mover.stop_moving()
@@ -161,6 +161,7 @@ if __name__ == '__main__':
                 striker.mover.kick(fancy=True, foot='L')
                 ##striker.speak("Nice kick. Let's do a dance")
                 #striker.mover.dance()
+                sleep(2)
                 break
     finally:
         striker.close()
diff --git a/pykick/striker.py b/pykick/striker.py
index 22ec683..72ffe6a 100644
--- a/pykick/striker.py
+++ b/pykick/striker.py
@@ -29,17 +29,17 @@ class Striker(object):
             nao_ip, port=nao_port, res=res, fps=10, cam_id=0,
         )
         self.lower_camera = NaoImageReader(
-            nao_ip, port=nao_port, res=res, fps=10, cam_id=1,
+            nao_ip, port=nao_port, res=1, fps=10, cam_id=1,
         )
 
         # POV
         self.upper_pov = NaoImageReader(
-            nao_ip, port=nao_port, res=1, fps=15, cam_id=0,
+            nao_ip, port=nao_port, res=1, fps=10, cam_id=0,
             video_file='./cam0_' + self.run_id + '.avi'
         )
 
         self.lower_pov = NaoImageReader(
-            nao_ip, port=nao_port, res=1, fps=15, cam_id=1,
+            nao_ip, port=nao_port, res=1, fps=10, cam_id=1,
             video_file='./cam1_' + self.run_id + '.avi'
         )
         self.pov_thread = Thread(target=self._pov)
@@ -81,13 +81,14 @@ class Striker(object):
         while not self.is_over:
             while self.speach_queue:
                 self.speaker.say(self.speach_queue.pop())
-            sleep(0.1)
+            sleep(0.5)
 
     def _pov(self):
         while not self.is_over:
             try:
                 self.upper_pov.get_frame()
                 self.lower_pov.get_frame()
+                sleep(0.1)
             except RuntimeError as e:
                 print(e)
                 continue