added threshold in ball_approch for error prevention

2018-06-12 11:45:28 +02:00
parent 83f7604efe
commit 9bc732807a
1 changed files with 7 additions and 3 deletions
--- a/pykick/ball_approach.py
+++ b/pykick/ball_approach.py
@@ -74,8 +74,12 @@ class BallFollower(object):
        d_yaw, d_pitch = x, 0
        print(d_yaw)
 	
+	# 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)
+	
        # self.counter = 0
        yaw = self.mover.get_head_angles()[0]
        if abs(yaw) > 0.4: