Silent but efficient
This commit is contained in:
@@ -18,12 +18,13 @@ if __name__ == '__main__':
|
||||
goal_hsv=cfg['goal'], field_hsv=cfg['field'],
|
||||
ball_min_radius=cfg['ball_min_radius'],
|
||||
)
|
||||
striker.speak('tiger')
|
||||
sleep(4.75)
|
||||
|
||||
# striker.speak('tiger')
|
||||
# sleep(4.75)
|
||||
striker.mover.stand_up(1.0)
|
||||
sleep(9)
|
||||
print('Initialized')
|
||||
striker.speak('Initialized')
|
||||
# sleep(9)
|
||||
# print('Initialized')
|
||||
striker.speak('Initialized')
|
||||
|
||||
state = 'init'
|
||||
loop_start = time()
|
||||
@@ -47,12 +48,12 @@ if __name__ == '__main__':
|
||||
_, _, gcc = striker.goal_search()
|
||||
print('Goal center', gcc, 'Ball dist', bdist)
|
||||
|
||||
if abs(gcc) < 0.4 or bdist <= 0.2:
|
||||
if abs(gcc) < 0.2 or bdist <= 0.35:
|
||||
print('Straight approach')
|
||||
state = 'straight_approach'
|
||||
approach = 0
|
||||
|
||||
elif 0.20 < bdist < 0.50:
|
||||
elif 0.35 < bdist < 0.50:
|
||||
print('Rdist is hypo')
|
||||
state = 'rdist_is_hypo'
|
||||
approach = 1 if gcc < 0 else - 1
|
||||
@@ -75,11 +76,10 @@ if __name__ == '__main__':
|
||||
striker.ball_tracking(tol=0.20)
|
||||
bil = striker.get_ball_angles_from_camera(
|
||||
striker.lower_camera
|
||||
) # Ball in lower
|
||||
print('Ball in lower!', bil)
|
||||
) # Ball in lower print('Ball in lower!', bil)
|
||||
if bil is not None and bil[1] > 0.20:
|
||||
striker.mover.stop_moving()
|
||||
striker.speak('Aligning to goal')
|
||||
striker.speak('Ball is close enough. Aligning to goal')
|
||||
state = 'goal_align'
|
||||
else:
|
||||
striker.run_to_ball(1)
|
||||
@@ -87,26 +87,30 @@ if __name__ == '__main__':
|
||||
elif state == 'bdist_is_hypo':
|
||||
angle = striker.walking_direction(approach, bdist, 'bdist')
|
||||
rdist = bdist * cos(angle)
|
||||
print('Approach angle', angle)
|
||||
print('Approach angle', angle, 'Run distance', rdist)
|
||||
|
||||
striker.mover.move_to(0, 0, angle)
|
||||
striker.mover.wait()
|
||||
striker.run_to_ball(rdist)
|
||||
striker.mover.wait()
|
||||
striker.mover.move_to(0, 0, -pi/2 * approach)
|
||||
striker.mover.wait()
|
||||
if rdist > 1.5:
|
||||
striker.run_to_ball(1.5)
|
||||
striker.mover.wait()
|
||||
else:
|
||||
striker.run_to_ball(rdist)
|
||||
striker.mover.wait()
|
||||
striker.mover.move_to(0, 0, -pi/2 * approach)
|
||||
striker.mover.wait()
|
||||
state = 'init'
|
||||
|
||||
elif state == 'rdist_is_hypo':
|
||||
angle = striker.walking_direction(approach, bdist, 'rdist')
|
||||
rdist = bdist / cos(angle)
|
||||
print('Approach angle', angle)
|
||||
print('Approach angle', angle, 'Run distance', rdist)
|
||||
|
||||
striker.mover.move_to(0, 0, angle)
|
||||
striker.mover.wait()
|
||||
striker.run_to_ball(rdist)
|
||||
striker.mover.wait()
|
||||
striker.mover.move_to(0, 0, -(pi/2 - angle) * approach)
|
||||
striker.mover.move_to(0, 0, (-pi/2 - angle) * approach)
|
||||
striker.mover.wait()
|
||||
state = 'init'
|
||||
|
||||
@@ -126,7 +130,7 @@ if __name__ == '__main__':
|
||||
sleep(0.3)
|
||||
if success:
|
||||
state = 'kick'
|
||||
striker.speak('hasta')
|
||||
# striker.speak('hasta')
|
||||
except ValueError:
|
||||
striker.ball_tracking()
|
||||
|
||||
@@ -136,81 +140,53 @@ if __name__ == '__main__':
|
||||
sleep(0.3)
|
||||
striker.mover.kick(fancy=True, foot='L')
|
||||
striker.mover.stand_up()
|
||||
striker.speak('Nice kick. Lets do the dance')
|
||||
sleep(2)
|
||||
striker.mover.dance()
|
||||
striker.mover.set_head_angles(0, 0)
|
||||
striker.speak('Trying to confirm the goal')
|
||||
sleep(3)
|
||||
ball = striker.get_ball_angles_from_camera(striker.upper_camera)
|
||||
goal = striker.goal_search()
|
||||
|
||||
if ball is not None and goal is not None:
|
||||
ball_x = ball[0]
|
||||
gcl, gcr, _ = goal
|
||||
print('Ball, goal', ball, goal)
|
||||
if not (gcl > ball_x > gcr):
|
||||
striker.speak('I Failed')
|
||||
sleep(0.5)
|
||||
break
|
||||
else:
|
||||
striker.speak('I succeeded, confirmed')
|
||||
sleep(0.5)
|
||||
break
|
||||
|
||||
striker.speak('I succeeded, presumably')
|
||||
striker.mover.stand_up()
|
||||
sleep(0.5)
|
||||
# striker.speak('Nice kick. Lets do the dance')
|
||||
# sleep(2)
|
||||
# striker.mover.dance()
|
||||
break
|
||||
finally:
|
||||
striker.close()
|
||||
striker.mover.rest()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# ____________________ STRIKER NEW ________________________________
|
||||
#
|
||||
# Ball tracking --> Distance to ball --> Goal angle
|
||||
# ^ |
|
||||
# | |
|
||||
# | yes v
|
||||
# | Ball distance <-- Goal angle > thr
|
||||
# | / | \ |
|
||||
# | > 50 cm / |(20,50) \ < 20cm | no
|
||||
# | / v \ v
|
||||
# +- Distance is < Walk is hypo \ Straight approach
|
||||
# | hypo | > until goal align
|
||||
# | | (bil > 0.2)
|
||||
# -----------------------+ |
|
||||
# |
|
||||
# | / | /^ | / v
|
||||
# |( | ( |( Ball Goal align
|
||||
# | \ | \_ | \ <-- align <-- (if lost ball run backwards)
|
||||
#
|
||||
#__________________________________________________________________
|
||||
|
||||
# ____________________ STRIKER __________________________
|
||||
#
|
||||
# +----> Ball tracking (see below) <-------------+
|
||||
# | |
|
||||
# | | |
|
||||
# | | |
|
||||
# | v |
|
||||
# | Ball in lower cam? |
|
||||
# | / \ |
|
||||
# lost | yes / \ cannot do |
|
||||
# ball | v v |
|
||||
# +-- Goal align Ball is only in top camera --+
|
||||
# | Move closer.
|
||||
# |
|
||||
# successful |
|
||||
# v
|
||||
# Kick it! (Fancy or simple)
|
||||
#
|
||||
# _______________________________________________________
|
||||
|
||||
# ____________________ 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 | |
|
||||
# | | |
|
||||
# +---------------------------------+---------+
|
||||
#
|
||||
# _______________________________________________________
|
||||
# _________________________ STRIKER _____________________________
|
||||
# [ ]
|
||||
# [ Ball tracking --> Distance to ball --> Goal angle ]
|
||||
# [ ^ | ]
|
||||
# [ | | ]
|
||||
# [ | yes v ]
|
||||
# [ | Ball distance <-- Goal angle > thr ]
|
||||
# [ | / | \ | ]
|
||||
# [ | > 50 cm / |(35,50) \ < 35cm | no ]
|
||||
# [ | / v \ v ]
|
||||
# [ +- Distance is < Walk is hypo \ Straight approach ]
|
||||
# [ | hypo | > until goal align ]
|
||||
# [ | | (bil > 0.2) ]
|
||||
# [ -----------------------+ | ]
|
||||
# [ | ]
|
||||
# [ | / | /^ | / v ]
|
||||
# [ |( | ( |( Ball Goal align ]
|
||||
# [ | \ | \_ | \ <-- align <-- (if lost ball run backwards) ]
|
||||
# [_______________________________________________________________]
|
||||
|
||||
Reference in New Issue
Block a user