def transmit_ball_location(self):
ball = self._vision.get_ball()
if ball is not None:
ball_centre = ball[0]
if self._side == 'left':
ball_centre = flip_coordinates(ball_centre[0], ball_centre[1])
print '/vision/xy ball %f %f %s' % (ball_centre[0], ball_centre[1], self._frame_timestamp)
def transmit_robot_location(self, colour):
(robot_centre, robot_rotation) = self._vision.get_robot(colour)
name = 'us' if self._colour == colour else 'enemy'
if robot_centre is not None:
if self._side == 'left':
robot_centre = flip_coordinates(robot_centre[0], robot_centre[1])
print '/vision/xy %s %f %f %s' % (name, robot_centre[0], robot_centre[1], self._frame_timestamp)
if robot_rotation is not None:
if self._side == 'left':
robot_rotation = flip_rotation(robot_rotation)
print '/vision/rotation %s %f %s' % (name, robot_rotation, self._frame_timestamp)