From a4b8ff032c9c26cbbb907e9296936d49eee3f966 Mon Sep 17 00:00:00 2001 From: Pavel Lutskov Date: Sun, 24 Jun 2018 15:31:59 +0200 Subject: [PATCH] first attempt at true striker --- pykick/striker.py | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/pykick/striker.py b/pykick/striker.py index 72ed3f7..fd07a65 100644 --- a/pykick/striker.py +++ b/pykick/striker.py @@ -415,29 +415,29 @@ if __name__ == '__main__': striker.mover.wait() state = 'tracking' - # elif state == 'align': - # striker.mover.set_head_angles(0, 0.25, 0.3) - # sleep(0.5) - # try: - # success = striker.align_to_ball() - # sleep(0.3) - # if success: - # state = 'kick' - # except ValueError: - # striker.mover.set_head_angles(0, 0, 0.3) - # state = 'tracking' - elif state == 'goal_align': # print(striker.ball_and_goal_search()) try: if striker.align_to_goal(): - state="simple_kick" + state = "align" except ValueError: state = 'tracking' + elif state == 'align': + striker.mover.set_head_angles(0, 0.25, 0.3) + sleep(0.5) + try: + success = striker.align_to_ball() + sleep(0.3) + if success: + state = 'kick' + except ValueError: + striker.mover.set_head_angles(0, 0, 0.3) + state = 'tracking' + elif state == 'kick': print('KICK!') - striker.mover.kick() + striker.mover.kick(fancy=True) break loop_end = time()