pavel/kick-it
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added goal approach detection

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Jonas
2018-06-30 12:11:37 +02:00
parent 1c6910cbe5
commit a4ba0bdd57
1 changed files with 17 additions and 7 deletions
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22
pykick/__main__.py
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@@ -83,9 +83,19 @@ if __name__ == '__main__':
striker.mover.set_head_angles(0, 0)
striker.speak("Start the Ball tracking")
striker.ball_tracking(tol=0.05)
# goal_center = striker.goal_search()
# approach = 1 if goal_center < 0 else -1
striker.speak("I have found the Ball, starting with. Goal search")
goal_center = striker.goal_search()
if goal_center <0:
striker.speak("I have found the. goal on the right")
approach = 1
else:
striker.speak("I have found the. goal on the left")
approach = -1
striker.mover.set_head_angles(0, 0)
#approach = 1 if goal_center < 0 else -1
#approach = 1
sleep(0.5)
state = 'ball_approach'
elif state == 'tracking':
@@ -101,7 +111,7 @@ if __name__ == '__main__':
# ) # Ball in lower
# print('Ball in lower', bil)
striker.speak("I have found the ball. Starting ball approach")
#striker.speak("I have found the ball. Starting ball approach")
try:
d = striker.distance_to_ball()
except ValueError:
@@ -123,7 +133,7 @@ if __name__ == '__main__':
elif state == 'goal_align':
try:
if striker.align_to_goal():
striker.speak('I am aligning to ball')
striker.speak('Why am I in align. This makes no sense')
state = "align"
except ValueError:
state = 'tracking'
@@ -161,8 +171,8 @@ if __name__ == '__main__':
striker.mover.stand_up()
sleep(0.3)
striker.mover.kick(fancy=True, foot='L')
striker.speak("Nice kick. Let's do a dance")
striker.mover.dance()
##striker.speak("Nice kick. Let's do a dance")
#striker.mover.dance()
break
loop_end = time()