coachproxy = ALProxy("ALMemory", coachIP, 9559) except: print "Coach not available, ip" + coachIP # Creating classes: Protocol is first three letters with exception gameStateController (gsc) # Motion class: motion functions etc. mot = motions.Motions(motProxy, posProxy) # VisionInterface class: goalscans, ballscans vis = visionInterface.VisionInterface(motProxy, vidProxy, memProxy) # Start the vision (ballfinding) thread visThread = visionInterface.VisionThread(vis) visThread.start() # stateController class: robot state, penalized, etc. gsc = gameStateController.stateController("stateController", ttsProxy, memProxy) # kalmanFilter class: a kalman filter to keep track of the ballposition kalmanFilterBall = kalman.KalmanBall() # control vector containing x,y,theta-velocity control = [0, 0, 0] # ball location(s) ball_loc = dict() # particleFilter = particle.ParticleFilter() # particleFilter.start() # Initialization of state and phase , defining gameState and robotPhase state = 0 phase = "BallNotFound"
# Use the chin camera vidProxy.setParam(18,1) # Dictionary that stores if a phase has been called once already. firstCall = {'Initial' : True, 'Ready' : True, 'Set': True, 'Playing': True, 'Penalized': True, 'BallFoundKeep' : True, 'BallNotFoundKeep' : True, 'BallFound' : True, 'BallNotFound' : True} # Gamecontroller sc = gameStateController.stateController('stateController') # Robots own variables robot = sc.getRobotNumber() # Local memProxy for storing information (coaching) memProxy = ALProxy('ALMemory', '127.0.0.1', 9559) memProxy.insertListData([['dntBallDist', '', 0], ['dntPhase', 0, 0], ['dntNaoNum', robot, 0]]) # specify the coach here! try: coachproxy = ALProxy('ALMemory', '192.168.1.14', 9559) except: pass # If keeper -> different style of play
coachproxy = ALProxy('ALMemory', coachIP, 9559) except: print 'Coach not available, ip' + coachIP # Creating classes: Protocol is first three letters with exception gameStateController (gsc) # Motion class: motion functions etc. mot = motions.Motions(motProxy, posProxy) # VisionInterface class: goalscans, ballscans vis = visionInterface.VisionInterface(motProxy, vidProxy, memProxy) # Start the vision (ballfinding) thread visThread = visionInterface.VisionThread(vis) visThread.start() # stateController class: robot state, penalized, etc. gsc = gameStateController.stateController('stateController', ttsProxy, memProxy) # kalmanFilter class: a kalman filter to keep track of the ballposition kalmanFilterBall = kalman.KalmanBall() # control vector containing x,y,theta-velocity control = [0, 0, 0] # ball location(s) ball_loc = dict() #particleFilter = particle.ParticleFilter() #particleFilter.start() # Initialization of state and phase , defining gameState and robotPhase state = 0 phase = 'BallNotFound'