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added threshold in ball_approch for error prevention

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Jonas
2018-06-12 11:45:28 +02:00
parent 83f7604efe
commit 9bc732807a
1 changed files with 7 additions and 3 deletions
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8
pykick/ball_approach.py
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@@ -29,7 +29,7 @@ class BallFollower(object):
mag = abs(yaw) mag = abs(yaw)
sign = 1 if yaw >= 0 else -1 sign = 1 if yaw >= 0 else -1
if mag > 2: if mag > 2:
self.mover.move_to(0, 0, sign * pi / 12) self.mover.move_to(0, 0, sign * pi / 12)
else: else:
self.mover.change_head_angles(sign * pi / 4, 0, 0.5) self.mover.change_head_angles(sign * pi / 4, 0, 0.5)
@@ -74,8 +74,12 @@ class BallFollower(object):
d_yaw, d_pitch = x, 0 d_yaw, d_pitch = x, 0
print(d_yaw) print(d_yaw)
self.mover.change_head_angles(d_yaw * 0.7, d_pitch, # dont move the head, when the angle is below a threshold
# otherwise function would raise an error and stop
if (abs(d_yaw)>=0.00001):
self.mover.change_head_angles(d_yaw * 0.7, d_pitch,
abs(d_yaw) / 2) abs(d_yaw) / 2)
# self.counter = 0 # self.counter = 0
yaw = self.mover.get_head_angles()[0] yaw = self.mover.get_head_angles()[0]
if abs(yaw) > 0.4: if abs(yaw) > 0.4: