pavel/kick-it
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modified kick distance - added som voice output

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Jonas
2018-06-30 10:09:17 +02:00
parent e37bb67b40
commit cf7a8276be
1 changed files with 9 additions and 2 deletions
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11
pykick/striker.py
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@@ -248,7 +248,7 @@ class Striker(object):
if ball_angles is None: if ball_angles is None:
raise ValueError('No ball') raise ValueError('No ball')
x, y = ball_angles x, y = ball_angles
goal_x, goal_y = 0.095, 0.30 goal_x, goal_y = 0.095, 0.4
dx, dy = goal_x - x, goal_y - y dx, dy = goal_x - x, goal_y - y
dx = -dx * 0.2 if abs(dx) > 0.05 else 0 dx = -dx * 0.2 if abs(dx) > 0.05 else 0
@@ -400,6 +400,7 @@ if __name__ == '__main__':
curve_start = -0.1 curve_start = -0.1
curve_stop = 0.1 curve_stop = 0.1
soll = init_soll soll = init_soll
striker.speak("Initialized")
while True: while True:
# meassure time for debbuging # meassure time for debbuging
loop_start = time() loop_start = time()
@@ -407,6 +408,7 @@ if __name__ == '__main__':
if state == 'init': if state == 'init':
striker.mover.set_head_angles(0, 0) striker.mover.set_head_angles(0, 0)
striker.speak("Start the Ball tracking")
striker.ball_tracking(tol=0.05) striker.ball_tracking(tol=0.05)
# goal_center = striker.goal_search() # goal_center = striker.goal_search()
# approach = 1 if goal_center < 0 else -1 # approach = 1 if goal_center < 0 else -1
@@ -426,18 +428,22 @@ if __name__ == '__main__':
# ) # Ball in lower # ) # Ball in lower
# print('Ball in lower', bil) # print('Ball in lower', bil)
striker.speak("I have found the ball. Starting ball approach")
try: try:
d = striker.distance_to_ball() d = striker.distance_to_ball()
except ValueError: except ValueError:
state = 'tracking' state = 'tracking'
continue continue
print('Distance to ball', d) print('Distance to ball', d)
striker.speak("The distance to the ball is approximately "+str(round(d,2))+" Meters")
angle = striker.walking_direction(approach, d) angle = striker.walking_direction(approach, d)
d_run = d * cos(angle) d_run = d * cos(angle)
print('Approach angle', angle) print('Approach angle', angle)
striker.mover.move_to(0, 0, angle) striker.mover.move_to(0, 0, angle)
striker.mover.wait() striker.mover.wait()
striker.run_to_ball(d_run) striker.run_to_ball(d_run)
striker.speak("I think I have reached the ball. I will start rotating")
striker.mover.move_to(0, 0, -pi/2 * approach) striker.mover.move_to(0, 0, -pi/2 * approach)
state = 'tracking' state = 'tracking'
@@ -450,13 +456,14 @@ if __name__ == '__main__':
state = 'tracking' state = 'tracking'
elif state == 'align': elif state == 'align':
striker.speak("I will try now to align to the ball")
striker.mover.set_head_angles(0, 0.25, 0.3) striker.mover.set_head_angles(0, 0.25, 0.3)
sleep(0.5) sleep(0.5)
try: try:
success = striker.align_to_ball() success = striker.align_to_ball()
sleep(0.3) sleep(0.3)
if success: if success:
striker.speak('I am going. To kick ass') striker.speak('Hasta la vista, Baby')
state = 'kick' state = 'kick'
except ValueError: except ValueError:
pass pass