41 lines
1.2 KiB
TeX
41 lines
1.2 KiB
TeX
\chapter{Implementation Details}
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\section{Code Organization}
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Our code is organized as a standard Python package. The following command can
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be used to make the robot run the whole goal scoring sequence:
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\begin{verbatim}
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python -m pykick
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\end{verbatim}
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Alternatively, individual modules can be run with the following command:
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\begin{verbatim}
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python -m pykick.[filename_without_.py]
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\end{verbatim}
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The main logic of our implementation can be found in the following files:
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\begin{itemize}
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\item \verb|__main__.py| contains the state machine described in the section
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\ref{p sec overview}.
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\item \verb|striker.py| contains implementation of higher level behaviors,
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such as aligning the ball and the goal, or turning to ball.
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\item \verb|finders.py| contains implementations of our detection algorithms.
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\item \verb|imagereaders.py| contains some convenience classes for capturing
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video output from various video sources, such as Nao cameras, web-cameras
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or video files.
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\item \verb|movements.py| implements convenience movements-related function,
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such as walking and also the kick.
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\item \verb|nao_defaults.json| stores all project-global settings, such as
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the IP-address of the robot, or color calibration results.
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\end{itemize}
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