pavel/kick-it
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go back to tracking when no ball in sight

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Jonas
2018-06-24 10:40:56 +02:00
parent 45d55738c3
commit e0955d0fee
1 changed files with 6 additions and 4 deletions
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10
pykick/striker.py
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@@ -208,8 +208,7 @@ class Striker(object):
ball_angles = self.get_ball_angles_from_camera(self.lower_camera) ball_angles = self.get_ball_angles_from_camera(self.lower_camera)
if ball_angles is None: if ball_angles is None:
self.speak("Cannot see the ball") self.speak("Cannot see the ball")
#raise ValueError('No ball') raise ValueError('No ball')
return false
x, y = ball_angles x, y = ball_angles
print(x, y) print(x, y)
@@ -428,8 +427,11 @@ if __name__ == '__main__':
elif state == 'goal_align': elif state == 'goal_align':
# print(striker.ball_and_goal_search()) # print(striker.ball_and_goal_search())
if striker.align_to_goal(): try:
state="simple_kick" if striker.align_to_goal():
state="simple_kick"
except ValueError:
state = 'tracking'
elif state == 'kick': elif state == 'kick':
print('KICK!') print('KICK!')