def ReturnField():
global phase
if mot.isWalking():
# ..search for a ball
if vis.scanCircle(visThread, 0.2):
phase = 'BallFound'
else:
phase = 'BallNotFound'
def ReturnField():
# and while you're walking forward..
global phase
if mot.isWalking():
# ..search for a ball
if vis.scanCircle(visThread):
phase = "BallFound"
else:
phase = "BallNotFound"
def Unpenalized():
global phase
global playertype
memProxy.insertListData([['dntBallDist', '', 0], ['dntPhase', 'ReturnField', 0]])
# if case this nao is a keeper, convert to player until state changes to initial/ready/set, where it is set to keeper again
playertype = 0
visThread.startScan()
# so no matter what, it's always good to walk forward (2 meters, to the center of the field)
if not(mot.isWalking()):
mot.postWalkTo(2, 0, 0)
phase = 'ReturnField'
def Unpenalized():
"""When unpenalized, a player starts at the side of the field
"""
global phase
global playertype
memProxy.insertListData([["dntBallDist", "", 0], ["dntPhase", "ReturnField", 0]])
# if case this nao is a keeper, convert to player until state changes to initial/ready/set, where it is set to keeper again
playertype = 0
visThread.startScan()
# so no matter what, it's always good to walk forward (2 meters, to the center of the field)
if not (mot.isWalking()):
mHandler.postWalkTo(2, 0, 0)
phase = "ReturnField"
