Esempio n. 1
0
def performCalibration(color):

    config.StiffnessOn(motionProxy)
    config.calibrationPoseInit(motionProxy)

    found = findNXT(color)
    tts = ALProxy("ALTextToSpeech")

    if(found):
        tts.say('Start to calculate distance')
        allMarker = detectMarkerAndCalcDist(IP, PORT, 10)
        #print allMarker
        directDistance = int(allMarker[0][4][0])
        x = int(allMarker[0][4][1])
        y = int(allMarker[0][4][2])

        orientation = markerPosition[1][markerPosition[0].index(allMarker[0][3])]
        print x, y, orientation

        if(len(allMarker)>0):
            tts.say('The nxt is '+ str(directDistance) + 'centimeter away from me!')
            tts.say('The position of the NXT is ' + str(orientation))
            return x, y, orientation
        else:
            tts.say('Error! Could not calculate distance. Make sure that the nxt didn\'t move')


    myBroker.shutdown()
Esempio n. 2
0
 def changeBodyOrientation(self, orientation):
     if(orientation == "init"):
         self.bodyOrientation = "init"
         self.naoCameraHeight = 50
         config.walkPoseInit(self.motionProxy)
     elif(orientation == "knee"):
         self.bodyOrientation = "knee"
         self.naoCameraHeight = 41
         config.calibrationPoseInit(self.motionProxy)
     elif(orientation == "zero"):
         self.bodyOrientation = "zero"
         self.naoCameraHeight = 52
         config.poseZero(self.motionProxy)
def main():
    n = NAOCalibration()
    config.walkPoseInit(n.motionProxy)
    config.calibrationPoseInit(n.motionProxy)

    n.performCalibration(0)  # search for red nxt
    # print "------------------------------------------"
    # n.performCalibration(1) #search for green nxt
    # print "------------------------------------------"
    # n.performCalibration(2) #search for blue nxt

    # config.walkPoseInit(n.motionProxy)
    sys.exit(1)