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Better video saving + successful goal

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This commit is contained in:
Pavel Lutskov
2018-06-30 14:54:27 +02:00
parent 5c4cfa0842
commit 784560753d
3 changed files with 25 additions and 5 deletions
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21
pykick/__main__.py
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@@ -116,7 +116,22 @@ if __name__ == '__main__':
if approach_steps < 2:
state = 'ball_approach'
else:
state = 'straight_approach'
elif state == 'straight_approach':
bil = striker.get_ball_angles_from_camera(
striker.lower_camera
) # Ball in lower
print(bil)
if bil is not None and bil[1] > 0.15:
striker.speak('Ball is close enough, stop approach')
striker.mover.stop_moving()
striker.speak('Align to goal')
state = 'goal_align'
else:
striker.speak('Continue running')
striker.run_to_ball(1)
state = 'tracking'
elif state == 'ball_approach':
bil = striker.get_ball_angles_from_camera(
@@ -127,8 +142,9 @@ if __name__ == '__main__':
d = striker.distance_to_ball()
except ValueError:
if bil is not None:
state = 'goal_align'
striker.speak('Ball is close. Align to. Goal')
state = 'straight_approach'
striker.speak('Ball is close. ' +
'But not close enough maybe')
else:
state = 'tracking'
continue
@@ -143,6 +159,7 @@ if __name__ == '__main__':
striker.mover.move_to(0, 0, angle)
striker.mover.wait()
striker.run_to_ball(d_run)
striker.mover.wait()
striker.speak("I think I have reached the ball. " +
"I will start rotating")
approach_steps += 1