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trying smoother ball alignment

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Pavel Lutskov
2018-06-29 10:41:44 +02:00
parent 0ab0af257d
commit fdc4ee6784
1 changed files with 11 additions and 11 deletions
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22
pykick/striker.py
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@@ -237,15 +237,14 @@ class Striker(object):
x, y = ball_angles x, y = ball_angles
goal_x, goal_y = 0.095, 0.30 goal_x, goal_y = 0.095, 0.30
dx, dy = goal_x - x, goal_y - y dx, dy = goal_x - x, goal_y - y
if abs(dx) < 0.05 and abs(dy) < 0.05:
print(x, y) dx = -dx * 0.2 if abs(dx) > 0.05 else 0
dy = dy * 0.3 if abs(dy) > 0.05 else 0
if dx == 0 and dy == 0:
return True return True
if abs(dx) > 0.05: print('Moving to dxdy', dx, dy)
self.mover.move_to_fast(0, -dx * 0.2, 0) self.mover.move_to(dy, dx, 0)
self.mover.wait() self.mover.wait()
if abs(dy) > 0.05:
self.mover.move_to_fast(dy * 0.3, 0, 0)
self.mover.wait()
return False return False
def align_to_goal(self): def align_to_goal(self):
@@ -412,7 +411,7 @@ if __name__ == '__main__':
# (see diagram above) # (see diagram above)
else: else:
try: # Hit Ctrl-C to stop, cleanup and exit try: # Hit Ctrl-C to stop, cleanup and exit
state = 'tracking' state = 'align'
init_soll = 0.0 init_soll = 0.0
align_start = 0.15 align_start = 0.15
curve_start = -0.1 curve_start = -0.1
@@ -472,8 +471,9 @@ if __name__ == '__main__':
striker.speak('I am going. To kick ass') striker.speak('I am going. To kick ass')
state = 'kick' state = 'kick'
except ValueError: except ValueError:
striker.mover.set_head_angles(0, 0, 0.3) pass
state = 'tracking' # striker.mover.set_head_angles(0, 0, 0.3)
# state = 'tracking'
elif state == 'simple_kick': elif state == 'simple_kick':
striker.mover.set_head_angles(0,0.25,0.3) striker.mover.set_head_angles(0,0.25,0.3)