def entry(self):
#Resets the variables since the last use of the state:
#starting angle
self.start_angle = imu.get_angle()[2]
#Timers
self.start_time=time.time()
self.timer=self.start_time+self.time_between
#Which direction it should start turning its head
self.left_or_right=self.direction
#Makes sure that the head hardness is correct and
#stores the current head position
robotbody.set_head_hardness(0.95)
self.wanted_head_position=robotbody.get_head_position()
#Initiates the turn in the right direction
if self.direction=="left":
walk.turn_left(0.2)
else:
walk.turn_right(0.2)
#Sets a fancy blue eye colour
robotbody.set_eyes_led(0, 0, 31)
print("Tracking ball")
def entry(self):
#Resets all the variables:
#The wanted head position
self.wanted_head_position=[-pi/3,-0.733]
#The angles it has found to the goal
self.angles=[]
#The fail timer
self.fail_timer=time.time()+7
#A couple of boolean variables to help the robot
#through the different states of finding the two goal post
self.ending=False
self.failing=False
#Makes sure that the head hardness is right and
#updates the position of the head
robotbody.set_head_hardness(0.95)
set_head_position(self.wanted_head_position)
#Sets the walk speed to the actually zero
walk.set_velocity(0, 0, 0)
print ("searching for goal")
def entry(self):
robotbody.set_head_hardness(1.95)
self.wanted_head_position=robotbody.get_head_position()
self.last_distance=0
self.last_observation=0
self.start_travel=[]
self.direction="stand still"
def entry(self):
print("following the ball")
robotbody.set_head_hardness(0.95)
self.last_observation_of_ball=-1
if self.look_down:
self.wanted_head_position=[0,pi/4.5]
else:
self.wanted_head_position=robotbody.get_head_position()
set_head_position(self.wanted_head_position)
def entry(self):
robotbody.set_head_hardness(1.95)
self.current_head_position=robotbody.get_head_position()
self.wanted_head_position=[-pi/2,0]
robotbody.set_head_position_list(self.wanted_head_position)
self.ending=False
self.numbers_of_observation=0
self.angles=[]
print ("searching for goal")
def entry(self):
print("lining up...")
robotbody.set_head_hardness(0.95)
self.goal_angle=robotbody.get_head_position()[0]
self.wanted_head_position=[self.goal_angle,pi/4.5]
set_head_position(self.wanted_head_position)
self.timer=None
self.lost_ball_timer=time.time()+10
self.first_ball_angle=None
self.last_ball_angle=None
def entry(self):
print("Tracking ball")
robotbody.set_head_hardness(0.95)
self.wanted_head_position=robotbody.get_head_position()
self.start_angle = imu.get_angle()[2]
self.start_time=time.time()
self.timer=self.start_time+self.time_between
self.left_or_right="right"
walk.turn_left(0.2)
set_head_position(self.wanted_head_position)
def entry(self):
#Starts the timer from when the ball was last seen
self.lost_ball_timer=time.time()+5
#Sets the wanted head position, either to the current or
#to one looking down at the ball
if self.look_down:
self.wanted_head_position=[0,pi/8]
else:
self.wanted_head_position=robotbody.get_head_position()
#Makes sure that the head hardness is correct and updates the head position
robotbody.set_head_hardness(0.95)
set_head_position(self.wanted_head_position)
print("following the ball")
def entry(self):
#Resets all the variables for the last use of the state
#The movement timer
self.timer=None
#The last and first angle to the ball
self.first_ball_angle=None
self.last_ball_angle=None
#The lost ball timer
self.lost_ball_timer=time.time()+7
#Makes sure that the head hardness is right and sets the
#wanted head position to the same as last by looking down at the ball
robotbody.set_head_hardness(0.95)
self.goal_angle=robotbody.get_head_position()[0]
self.wanted_head_position=[self.goal_angle,pi/8]
set_head_position(self.wanted_head_position)
#Makes the robot stand still since it shouldn't move during while looking
walk.set_velocity(0,0,0)
print("lining up...")
def entry(self):
robotbody.set_head_hardness(1.95)
current_head_position=robotbody.get_head_position()
self.wanted_head_position=[current_head_position[0],current_head_position[1]]
def update():
_program.update()
motion.update()
vision.update()
vision.entry()
# Main loop
while not robotbody.is_middle_button_pressed():
update()
time.sleep(_tDelay)
vision.update()
vision.exit()
"""
from help_functions import ball_angle, set_head_position
from math import pi
robotbody.set_head_hardness(0.95)
set_head_position([0,pi/8])
motion.stand_still()
vision.entry()
#0.47 left foot
#-0.47 right foot
while not robotbody.is_middle_button_pressed():
motion.update()
vision.update()
print (ball_angle())
vision.exit()
