pavel/kick-it
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changed voice output a bit

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Jonas
2018-06-23 14:05:24 +02:00
parent 70c081d545
commit abb9750413
1 changed files with 6 additions and 2 deletions
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8
pykick/striker.py
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@@ -31,6 +31,7 @@ class Striker(object):
self.run_after = run_after self.run_after = run_after
self.in_move = False self.in_move = False
self.speaker = ALProxy("ALTextToSpeech", bytes(nao_ip), nao_port) self.speaker = ALProxy("ALTextToSpeech", bytes(nao_ip), nao_port)
self.tts_thread = None self.tts_thread = None
self.last_speak = None self.last_speak = None
@@ -39,6 +40,8 @@ class Striker(object):
(self.tts_thread is None or not self.tts_thread.isAlive()) (self.tts_thread is None or not self.tts_thread.isAlive())
and text != self.last_speak and text != self.last_speak
): ):
if (self.last_speak=="Where is the ball? I am searching for it" and text=="Going to rotate"):
text="I have found the ball"
self.tts_thread = Thread( self.tts_thread = Thread(
target=lambda text: self.speaker.say(str(text)), target=lambda text: self.speaker.say(str(text)),
args=(text,) args=(text,)
@@ -58,11 +61,11 @@ class Striker(object):
# head is aligned when the head yaw angle has reached his maximum # head is aligned when the head yaw angle has reached his maximum
if mag > 2: if mag > 2:
self.mover.move_to(0, 0, sign * pi / 12) self.mover.move_to(0, 0, sign * pi / 12)
self.speak("Where is the ball? I am searching for it") #self.speak("Where is the ball? I am searching for it")
# rotate head to the left, if head yaw angle is equally zero or larger # rotate head to the left, if head yaw angle is equally zero or larger
# rotate head to the right, if head yaw angle is smaller than zero # rotate head to the right, if head yaw angle is smaller than zero
else: else:
# self.speak("I have found the ball") #self.speak("I have found the ball")
self.mover.change_head_angles(sign * pi / 4, 0, 0.5) self.mover.change_head_angles(sign * pi / 4, 0, 0.5)
def get_ball_angles_from_camera(self, cam): def get_ball_angles_from_camera(self, cam):
@@ -111,6 +114,7 @@ class Striker(object):
# if ball is not in sight for more than five consecutive frames, # if ball is not in sight for more than five consecutive frames,
# start a ball scan # start a ball scan
if self.loss_counter > 5: if self.loss_counter > 5:
self.speak("Where is the ball? I am searching for it")
self.ball_scan() self.ball_scan()
return False return False