From e0955d0fee2753dcac444e3040fc1a7bccb666a2 Mon Sep 17 00:00:00 2001 From: Jonas Date: Sun, 24 Jun 2018 10:40:56 +0200 Subject: [PATCH] go back to tracking when no ball in sight --- pykick/striker.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/pykick/striker.py b/pykick/striker.py index 725abe6..98f68f0 100644 --- a/pykick/striker.py +++ b/pykick/striker.py @@ -208,8 +208,7 @@ class Striker(object): ball_angles = self.get_ball_angles_from_camera(self.lower_camera) if ball_angles is None: self.speak("Cannot see the ball") - #raise ValueError('No ball') - return false + raise ValueError('No ball') x, y = ball_angles print(x, y) @@ -428,8 +427,11 @@ if __name__ == '__main__': elif state == 'goal_align': # print(striker.ball_and_goal_search()) - if striker.align_to_goal(): - state="simple_kick" + try: + if striker.align_to_goal(): + state="simple_kick" + except ValueError: + state = 'tracking' elif state == 'kick': print('KICK!')