pavel/kick-it
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improved approach

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This commit is contained in:
Jonas
2018-06-18 15:01:08 +02:00
parent ed98bca9f6
commit e11f268508
2 changed files with 17 additions and 13 deletions
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15
pykick/striker.py
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@@ -103,15 +103,17 @@ class Striker(object):
if ball_angles is None:
raise ValueError('No ball')
x, y = ball_angles
goal_x, goal_y = 0.115, 0.25
goal_x, goal_y = 0.115, 0.32
dx, dy = goal_x - x, goal_y - y
if abs(dx) < 0.05 and abs(dy) < 0.05:
print(x, y)
return True
self.mover.move_to(dy * 0.5, 0, 0)
self.mover.wait()
self.mover.move_to(0, -dx * 0.5, 0)
self.mover.wait()
if abs(dy) > 0.05:
self.mover.move_to(dy * 0.5, 0, 0)
self.mover.wait()
if abs(dx) > 0.05:
self.mover.move_to(0, -dx * 0.5, 0)
self.mover.wait()
return False
def align_to_goal(self):
@@ -202,7 +204,7 @@ if __name__ == '__main__':
print(ball_in_lower)
if (ball_in_lower is not None
and ball_in_lower[1] > 0.25):
and ball_in_lower[1] > 0.28):
print('Ball is in lower camera, go to align')
striker.mover.stop_moving()
@@ -216,6 +218,7 @@ if __name__ == '__main__':
sleep(0.5)
try:
success = striker.align_to_ball()
sleep(0.3)
if success:
state = 'kick'
except ValueError: