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Drew state diagram for more meaningful tracking

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Pavel Lutskov
2018-06-18 21:21:47 +02:00
parent 2aac2354f9
commit a5e6059d3c
1 changed files with 36 additions and 5 deletions
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41
pykick/striker.py
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@@ -22,7 +22,7 @@ class Striker(object):
fps=30, cam_id=1)
self.ball_finder = BallFinder(tuple(red_hsv[0]), tuple(red_hsv[1]),
min_radius)
self.goal_finder = GoalFinder(white_hsv[0], white_hsv[1])
self.goal_finder = GoalFinder(tuple(white_hsv[0]), tuple(white_hsv[1]))
self.lock_counter = 0
self.loss_counter = 0
self.run_after = run_after
@@ -160,8 +160,10 @@ class Striker(object):
self.video_top.close()
self.video_bot.close()
# +----> Ball tracking until lock <--------------+
# | (search + rotation) |
# ____________________ STRIKER __________________________
#
# +----> Ball tracking (see below) <-------------+
# | |
# | | |
# | | |
# | v |
@@ -175,6 +177,35 @@ class Striker(object):
# successful |
# v
# Kick it!
#
# _______________________________________________________
# ____________________ TRACKING _________________________
#
# yes
# check if ball visible ---> rotate head to the ball
# ^ | |
# | | no |
# | v |
# +--- ball scan rotation |
# | |
# | no V
# | +---------- already rotating body?
# | | |
# | v | yes
# | head angle too big? v
# | / \ head angle
# | yes / \ no is below threshold?
# | v v | |
# | stop successful | no | yes
# | moving exit | v
# +----- and start | stop rotating body
# | rotating body | |
# | | |
# +---------------------------------+---------+
#
# _______________________________________________________
if __name__ == '__main__':
@@ -214,14 +245,14 @@ if __name__ == '__main__':
print('Continue running')
striker.run_to_ball()
state = 'tracking'
elif state == 'simple_kick':
#striker.mover.set_head_angles(0,0.25,0.3)
print('Doing the simple kick')
striker.mover.move_to(0.3,0,0)
striker.mover.wait()
state = 'tracking'
elif state == 'align':
striker.mover.set_head_angles(0, 0.25, 0.3)
sleep(0.5)