def __init__(self, pitch, color, our_side, video_port=0, comm_port='/dev/ttyACM0', quick=False, is_attacker=False):
"""
Entry point for the SDP system.
Params:
[int] video_port port number for the camera
[string] comm_port port number for the arduino
[int] pitch 0 - main pitch, 1 - secondary pitch
[string] our_side the side we're on - 'left' or 'right'
# """
self.controller = Controller(comm_port)
if not quick:
print("Waiting 10 seconds for serial to initialise")
time.sleep(10)
# Kick once to ensure we are in the correct position
self.controller.update(CommandDict.kick())
self.pitch = pitch
# Set up the vision system
self.vision = VisionWrapper(pitch, color, our_side, video_port)
# Set up the planner
self.planner = Planner(our_side, pitch, attacker=is_attacker)
# Set up GUI
self.GUI = GUI(calibration=self.vision.calibration, pitch=pitch, launch=self)
self.color = color
self.side = our_side
self.control_loop()
