def decideNextAction(): try: SonarFilter.update() b = ActionCommand.Body() h = ActionCommand.Head() l = ActionCommand.LED() if Helpers.localised(): l.leftEye(0, 1, 1) elif Helpers.unLocalised(): l.leftEye(1, 0, 1) else: l.leftEye(0, 0, 1) if Robot.vNumBalls() > 0: l.rightEye(0, 1, 0) elif Helpers.foundBall(): l.rightEye(1, 1, 0) else: l.rightEye(1, 0, 0) from math import radians b.actionType(ActionCommand.Body.STAND) skillInstance.execute(b, h, l) Robot.setAction(h, b, l) # print (b, h, l) except KeyboardInterrupt: print "###########################" print "## SIGINT RECEIVED ##" print "## BY PYTHON ##" print "## ATTEMPTING SHUTDOWN ##" print "###########################" Robot.attemptShutdown()