even further documentation

pykick/colorpicker.py

@@ -1,6 +1,5 @@
 "A script for calibrating the color and saving parameters."
 
-
 from __future__ import print_function
 from __future__ import division
 

pykick/hsv_render.py

@@ -1,3 +1,5 @@
+"""Script explaining how HSV works."""
+
 from __future__ import division, print_function
 
 import sys
@@ -6,32 +8,34 @@ import cv2
 import numpy as np
 
 
-image = np.zeros((200, 200, 3), dtype=np.uint8)
+if __name__ == '__main__':
-window = 'HSV Explained'
+    image = np.zeros((200, 200, 3), dtype=np.uint8)
-h, s, v = 0, 255, 255
+    window = 'HSV Explained'
+    h, s, v = 0, 255, 255
 
-print('u, i, o: increase h, s, v respectively\n',
+    print('u, i, o: increase h, s, v respectively',
-      'j, k, l: decrease h, s, v respectively\n',
+          'j, k, l: decrease h, s, v respectively',
-      '(focus on the image window for this)\n', sep='')
+          '(focus on the image window for this and look at the terminal)',
+          sep='\n')
 
-while True:
+    while True:
-    image[:] = h, s, v
+        image[:] = h, s, v
-    im2show = cv2.cvtColor(image, cv2.COLOR_HSV2BGR)
+        im2show = cv2.cvtColor(image, cv2.COLOR_HSV2BGR)
-    print(' HSV:', h, s, v, '      ', end='\r')
+        print(' HSV:', h, s, v, '      ', end='\r')
-    sys.stdout.flush()
+        sys.stdout.flush()
-    cv2.imshow(window, im2show)
+        cv2.imshow(window, im2show)
-    key = cv2.waitKey(0)
+        key = cv2.waitKey(0)
-    if key == ord('q'):
+        if key == ord('q'):
-        break
+            break
-    elif key == ord('u'):
+        elif key == ord('u'):
-        h = (h + 1) % 180
+            h = (h + 1) % 180
-    elif key == ord('j'):
+        elif key == ord('j'):
-        h = (h - 1) % 180
+            h = (h - 1) % 180
-    elif key == ord('i'):
+        elif key == ord('i'):
-        s = min(s + 1, 255)
+            s = min(s + 1, 255)
-    elif key == ord('k'):
+        elif key == ord('k'):
-        s = max(s - 1, 0)
+            s = max(s - 1, 0)
-    elif key == ord('o'):
+        elif key == ord('o'):
-        v = min(v + 1, 255)
+            v = min(v + 1, 255)
-    elif key == ord('l'):
+        elif key == ord('l'):
-        v = max(v - 1, 0)
+            v = max(v - 1, 0)

pykick/imagereaders.py

@@ -155,8 +155,7 @@ class VideoReader(object):
             raise ValueError('Error while reading video.\n' +
                              'Or video is over.')
         self.ctr += 1
-        if (self.ctr == self.cap.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT) and
+        if (self.ctr == self.cap.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT) and self.loop):
-            self.loop):
             self.ctr = 0
             self.cap.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, 0)
         return frame

pykick/movements.py

@@ -1,3 +1,8 @@
+"""Class with functions for easier movement of NAO.
+
+And a command line script for some movements.
+"""
+
 # from time import sleep
 import argparse
 from math import radians, pi
@@ -8,7 +13,7 @@ from .utils import read_config
 
 class NaoMover(object):
 
-    KICK_SEQUENCE = [
+    KICK_SEQUENCE = [  # DON'T USE THIS ONE
 
         # lean to the side using the ankle joints
         [[(0, 1, 'ShoulderRoll', -70),
@@ -25,7 +30,7 @@ class NaoMover(object):
     ]
 
     # fancy kick
-    KICK_SEQUENCE_FANCY = [
+    KICK_SEQUENCE_FANCY = [  # USE THIS ONE
         # base_or_kicking, unsymmetric, joint, angle
 
         # lift the arm
@@ -53,7 +58,6 @@ class NaoMover(object):
          0.5],
     ]
 
-
     def __init__(self, nao_ip, nao_port=9559):
         nao_ip = bytes(nao_ip)
         self.mp = ALProxy('ALMotion', nao_ip, nao_port)
@@ -70,6 +74,12 @@ class NaoMover(object):
         self.ready_to_move = False
 
     def kick(self, foot='L', fancy=False):
+        """Kick the ball with the foot.
+
+        For now optimized for Left foot. Also please always
+        set fancy to True when calling this.
+
+        """
         self.set_arm_stiffness(0.8)
         self.set_hip_stiffness(0.8)
         self.set_knee_stiffness(0.8)
@@ -106,6 +116,7 @@ class NaoMover(object):
         self.set_arm_stiffness()
 
     def rest(self):
+        """Send robot to resting position."""
         self.mp.rest()
         self.ready_to_move = False
 
@@ -150,10 +161,19 @@ class NaoMover(object):
         return self.mp.getAngles(('HeadYaw', 'HeadPitch'), False)
 
     def change_head_angles(self, d_yaw, d_pitch, speed=0.5):
+        """Change the head angles by a relative amount.
+
+        This function DOES return before movement is finished.
+        """
         self.mp.changeAngles(('HeadYaw', 'HeadPitch'),
                              (d_yaw, d_pitch), speed)
 
     def change_head_angles_blocking(self, d_yaw, d_pitch, speed=0.5):
+        """Same as `change_head_angles` but block until finished.
+
+        Doesn't work quite as expected though. You may need to work on it.
+
+        """
         self.mp.angleInterpolatioWithSpeed(('HeadYaw', 'HeadPitch'),
                                            (d_yaw, d_pitch), speed, False)
 

pykick/utils.py

@@ -1,3 +1,5 @@
+"""Some convenience functions which I leave up to you to explore."""
+
 from __future__ import division
 
 import os
@@ -41,6 +43,7 @@ def hsv_mask(hsv, hsv_lower, hsv_upper):
     else:
         return cv2.inRange(hsv, tuple(hsv_lower), tuple(hsv_upper))
 
+
 class InterruptDelayed(object):
 
     def __enter__(self):