def run(self):
penalizedon.set()
while (not stoppenalized.is_set()):
if readyon.is_set():
stop("ready")
elif set.isAlive():
stop("set")
elif playing.isAlive():
stop("playing")
config.stiffnessOff("Head")
penalizedon.clear()
def main():
def menu():
#print what options you have
print "\n*** OPTIONS ***"
print "0) Quit 5) Right Kick 10) Walk Left 15) Stand Up from Sit 20) R to S 25)Goalie"
print "1) Stiffness ON 6) Walk Foward 11) Walk Right 16) Find Red Ball L to R 21) R to L 26) Map"
print "2) Stiffness OFF 7) Walk Backwards 12) stand up on back 17) Find Red Ball L to S 22) Stop Tracker 27) Kalman Filter"
print "3) Goalie Pose 8) Turn Left 13) stand up on front 18) Find Red Ball L to L 23) Dive Left 28) Goalie intercepts clockwise"
print "4) Left Kick 9) Turn Right 14) Sit Down 19) Find Red Ball R to L 24) Dive Right 29) Goalie intercepts counterclockwise"
print "type what you want him to say in quotations"
return input ("\nChoose your option(s) as list: ")
# NOW THE PROGRAM REALLY STARTS, AS CODE IS RUN
loop = 1
choice = 0
while loop == 1:
choice = menu()
k=0
while k < len(choice):
if choice[k] == 0:
loop = 0
break
elif choice[k] == 1:
config.stiffnessOn()
elif choice[k] == 2:
config.stiffnessOff()
elif choice[k] == 3:
goalie.goaliePose()
elif choice[k] == 4:
kick.kickLeftFoot()
elif choice[k] == 5:
kick.kickRightFoot()
elif choice[k] == 6:
walk.ultimateWalkTo(1, 00, 00)
elif choice[k] == 7:
walk.ultimateWalkTo(-1, 00, 00)
elif choice[k] == 8:
walk.ultimateWalkTo(0,0,2)
elif choice[k] == 9:
walk.ultimateWalkTo(0,0,-2)
elif choice[k] == 10:
walk.ultimateWalkTo(0, -1, 0)
elif choice[k] == 11:
walk.ultimateWalkTo(0, 1, 0)
elif choice[k] == 12:
stand.standUp()
elif choice[k] == 13:
stand.standUpOnFront()
elif choice[k] == 14:
stand.sitDown()
elif choice[k] == 15:
stand.standFromSit()
elif choice[k] == 16:
track.findRedBallAndKick(1)
elif choice[k] == 17:
track.findRedBallAndKick(2)
elif choice[k] == 18:
track.findRedBallAndKick(3)
elif choice[k] == 19:
track.findRedBallAndKick(4)
elif choice[k] == 20:
track.findRedBallAndKick(5)
elif choice[k] == 21:
track.findRedBallAndKick(6)
elif choice[k] == 22:
track.stopTracker()
elif choice[k] == 23:
dive.diveLeft()
elif choice[k] == 24:
dive.diveRight()
elif choice[k] == 25:
goalie.goalie()
elif choice[k] == 26:
mapping.map()
elif choice[k] == 27:
kalmanthreaded.kalman().start()
elif choice[k] == 28:
goalie.goalieImproved(1)
elif choice[k] == 29:
goalie.goalieImproved(0)
elif choice[k] == 30:
kalmanthreaded.stop()
elif isinstance(choice[k], basestring): #this checks to see if the input is a string.
texttospeechProxy.say(choice[k]) #if it is a string it will make the nao speak it.
else:
#this else statement is used to try out new files that you dont want in the comand menu.
#just type out what you want it to run.
#example [kalmanthreaded.get('xposition')]
choice[k]
k = k+1
