rightFoot, farNegativeYaw, farPositiveYaw, lookAtBall2,
seeGoal)
#create states
rotateLeftState = createState("rotateLeftState",
lambda: setWalkVelocity(0, 0, 0.15))
rotateRightState = createState("rotateRightState",
lambda: setWalkVelocity(0, 0, -0.15))
archLeftState = createState("archLeftState",
lambda: setWalkVelocity(0.65, 0, 0.15))
archRightState = createState("archRightState",
lambda: setWalkVelocity(0.65, 0, -0.15))
walkToBallState = createState("walkToBallState",
lambda: setWalkVelocity(0.6, 0, 0))
watchBallState = createState("watchBallState", lambda wm: lookAtBall2(wm))
stopWalkingState = createState("stopWalkingState", stopWalking)
stopWalkingState2 = createState("stopWalkingState2", stopWalking)
setBottomCamState = createState("setBottomCamState",
lambda: setCamera("bottom"))
setBottomLedState = createState("setBottomLedState",
lambda: setLED("eyes", 1, 0, 0))
kickRightState = createState("kickRightState", lambda: kick("right"))
kickLeftState = createState("kickLeftState", lambda: kick("left"))
# FSM for following the ball
goToBallFSM = createFSM("goToBallFSM")
addStates(goToBallFSM, rotateLeftState, rotateRightState, walkToBallState,
watchBallState, stopWalkingState, stopWalkingState2,
setBottomLedState, setBottomCamState, kickRightState, kickLeftState,
say, setLED, setWalkVelocity, stopWalking)
# Import functions we've written
from functions import (seeBall, noSeeBall, shakeHeadTime, largestBall,
averageLook, lookAtBall, rotateTime, entryTime, currentTime,
cameraDelay, headTurning, lookAtBall2)
#Create States
shakeHeadState = createState("shakeHeadState", lambda wm: headTurning(wm))
shakeHeadState2 = createState("shakeHeadState2", lambda wm: headTurning(wm))
setTopCameraState = createState("setTopCameraState", lambda : setCamera("top"))
setBottomCameraState = createState("setBottomCameraState", lambda : setCamera("bottom"))
setTopCameraState2 = createState("setTopCameraState2", lambda : setCamera("top"))
lookAtBallState = createState("lookAtBallState", lambda wm : lookAtBall2(wm))
rotateState = createState("rotateState", lambda : setWalkVelocity(0, 0, 0.5))
bottomLedState = createState("bottomLedState", lambda : setLED("eyes", 1, 0, 0)) # Red
topLedState = createState("topLedState", lambda : setLED("eyes", 0, 1, 0)) # Green
topLedState2 = createState("topLedState2", lambda : setLED("eyes", 0, 1, 0)) # Green
stopWalkState = createState("stopWalkState", stopWalking)
# FSM for searching for the ball
lookBallFSM = createFSM("lookBallFSM")
addStates(lookBallFSM, shakeHeadState, stopWalkState,
setTopCameraState, setTopCameraState2,
setBottomCameraState, bottomLedState,
topLedState, lookAtBallState, rotateState,
shakeHeadState2,topLedState2)