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first attempt at true striker

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Pavel Lutskov
2018-06-24 15:31:59 +02:00
parent a28516177d
commit a4b8ff032c
1 changed files with 14 additions and 14 deletions
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28
pykick/striker.py
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@@ -415,29 +415,29 @@ if __name__ == '__main__':
striker.mover.wait() striker.mover.wait()
state = 'tracking' 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': elif state == 'goal_align':
# print(striker.ball_and_goal_search()) # print(striker.ball_and_goal_search())
try: try:
if striker.align_to_goal(): if striker.align_to_goal():
state="simple_kick" state = "align"
except ValueError: except ValueError:
state = 'tracking' 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': elif state == 'kick':
print('KICK!') print('KICK!')
striker.mover.kick() striker.mover.kick(fancy=True)
break break
loop_end = time() loop_end = time()