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):
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 update(self):
self.update_head_position()
if vision.has_new_ball_observation():
walk.turn_left(0)
robotbody.set_eyes_led(0, 31, 0)
print("found ball")
return "done"
if imu.get_angle()[2] > self.start_angle + self.angle:
walk.turn_left(0)
robotbody.set_eyes_led(31,0,0)
print ("can't find the ball")
return "out of sight"
def update(self):
#Tests if it has found a ball observation
if vision.has_new_ball_observation():
walk.turn_left(0)
robotbody.set_eyes_led(0, 31, 0)
print("found ball")
return "done"
#Tests if it's time to stop turning and accept a failure
if imu.get_angle()[2] > self.start_angle + self.angle:
walk.turn_left(0)
robotbody.set_eyes_led(31,0,0)
print ("can't find the ball")
return "out of sight"
#Updates the head position
self.update_head_position()
def exit(self):
walk.turn_left(0)
print("Exit gyro turn")
def entry(self):
print("Entry gyro turn")
self.start_angle = imu.get_angle()[2]
self.number_of_turns += 1
walk.turn_left(0.4)
def entry(self):
print("Entry turn")
self.start_time = time.time()
self.number_of_turns += 1
walk.turn_left(0.4)
