def tick(self, blackboard):
body = actioncommand.standStraight()
head = actioncommand.head(0, 0, False, 1, 1)
leds = actioncommand.leds()
req = robot.BehaviourRequest()
req.actions = actioncommand.compose(head, body, leds)
return req
def tick(self):
body = actioncommand.standStraight()
head = actioncommand.head(0, 0, False, 1, 1)
leds = actioncommand.leds()
self.world.b_request.actions = actioncommand.compose(head, body, leds)
def tick(self):
body = actioncommand.standStraight()
head = actioncommand.head(0, 0, False, 1, 1)
leds = actioncommand.leds()
self.world.b_request.actions = actioncommand.compose(head, body, leds)
def tick(self, blackboard):
self.numFramesTracked += 1
# get ball into centre of frame
self.lostBall = (blackboard.localisation.ballLostCount > 60)
request = robot.BehaviourRequest()
request.actions = robot.All()
neckRelative = blackboard.localisation.ballNeckRelative
self.targetPitch = self.calculateDesiredPitch(neckRelative)
if len(blackboard.vision.balls) > 0:
ball = blackboard.vision.balls[0]
imgCoords = blackboard.vision.balls[0].imageCoords
if blackboard.vision.balls[0].topCamera:
CONSTANT_X = 1280.0 / 1.06290551
xDiff = -(imgCoords[0] - 640) / CONSTANT_X
else:
CONSTANT_X = 640.0 / 1.06290551
xDiff = -(imgCoords[0] - 640 / 2) / CONSTANT_X
self.targetYaw = xDiff
if blackboard.localisation.ballLostCount < 3:
factor = abs(self.targetYaw) / 1.06290551
speed = 0.75 * factor # 10.0 * factor * factor
request.actions.head = actioncommand.head(self.targetYaw,
self.targetPitch, True,
speed, 0.2)
else:
self.ballYaw = self.calculateDesiredYaw(neckRelative)
self.targetYaw = self.ballYaw
request.actions.head = actioncommand.head(self.targetYaw,
self.targetPitch, False,
0.25, 0.2)
return request
def tick(self, blackboard):
self.numFramesTracked += 1
# get ball into centre of frame
self.lostBall = (blackboard.localisation.ballLostCount > 60)
request = robot.BehaviourRequest()
request.actions = robot.All()
neckRelative = blackboard.localisation.ballNeckRelative
self.targetPitch = self.calculateDesiredPitch(neckRelative)
if len(blackboard.vision.balls) > 0:
ball = blackboard.vision.balls[0]
imgCoords = blackboard.vision.balls[0].imageCoords
if blackboard.vision.balls[0].topCamera:
CONSTANT_X = 1280.0 / 1.06290551
xDiff = -(imgCoords[0] - 640) / CONSTANT_X
else:
CONSTANT_X = 640.0 / 1.06290551
xDiff = -(imgCoords[0] - 640/2) / CONSTANT_X
self.targetYaw = xDiff
if blackboard.localisation.ballLostCount < 3:
factor = abs(self.targetYaw) / 1.06290551
speed = 0.75 * factor #10.0 * factor * factor
request.actions.head = actioncommand.head(self.targetYaw, self.targetPitch, True, speed, 0.2)
else:
self.ballYaw = self.calculateDesiredYaw(neckRelative)
self.targetYaw = self.ballYaw
request.actions.head = actioncommand.head(self.targetYaw, self.targetPitch, False, 0.25, 0.2)
return request
def tick(self):
body = actioncommand.motionCalibrate()
head = actioncommand.head(0, 0, False, 1, 1)
leds = actioncommand.leds()
self.world.b_request.actions = actioncommand.compose(head, body, leds)
