pavel/kick-it
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Take goal posts into account

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This commit is contained in:
Pavel Lutskov
2018-07-01 09:50:40 +02:00
parent b9d6898691
commit 6f5fe6418b
2 changed files with 52 additions and 31 deletions
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21
pykick/__main__.py
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@@ -46,8 +46,15 @@ if __name__ == '__main__':
striker.speak(
"I have found the Ball, starting with. Goal search"
)
goal_center = striker.goal_search()
if goal_center <0:
_, _, gcc = striker.goal_search()
if abs(gcc) < 0.4:
striker.speak('Direct approach')
state = 'straight_approach'
approach = 0
continue
if gcc < 0:
striker.speak("I have found the. goal on the right")
approach = 1
else:
@@ -65,7 +72,7 @@ if __name__ == '__main__':
print('Soll angle')
striker.ball_tracking(tol=0.15)
# break
if approach_steps < 2:
if approach_steps < 2 and approach != 0:
state = 'ball_approach'
else:
state = 'straight_approach'
@@ -86,6 +93,7 @@ if __name__ == '__main__':
state = 'tracking'
elif state == 'ball_approach':
sleep(0.8)
bil = striker.get_ball_angles_from_camera(
striker.lower_camera
) # Ball in lower
@@ -159,9 +167,10 @@ if __name__ == '__main__':
striker.mover.stand_up()
sleep(0.3)
striker.mover.kick(fancy=True, foot='L')
##striker.speak("Nice kick. Let's do a dance")
#striker.mover.dance()
sleep(4)
striker.mover.stand_up()
sleep(2)
striker.speak("Nice kick. Let's do a dance")
striker.mover.dance()
break
finally:
striker.close()