# outputs its results
memValue = "/BURST/Vision/BallX"
# Create a proxy to ALMemory
try:
memoryProxy = ALProxy("ALMemory", IP, PORT)
except Exception, e:
print "Error when creating memory proxy:"
print str(e)
exit(1)
visionProxy.setCamera(1) # 0 - top camera, 1 - bottom camera
TimeInterpolation = 0.05
motionProxy.setJointStiffness('HeadYaw',1.0) #,TimeInterpolation
motionProxy.gotoAngle("HeadYaw",0.23,TimeInterpolation*10,1) #0.23 #0.31
visionProxy.getBall()
time.sleep(1.0)
#motionProxy.gotoAngle("HeadYaw",-0.15,TimeInterpolation*10,1) #0.23
#print (10*motion.TO_RAD)
#exit(0)
while True:
#for i in range(0, 1):
#time.sleep(0.1)
#print(i)
#visionProxy.getBallRemote()
visionProxy.getBall()
visionProxy.getBall()
# to get notified when the memValue changes
TimeInterpolation = 0.05
motionProxy.setJointStiffness('HeadYaw',1.0,TimeInterpolation)
newHeadYaw = 0.2
for i in range(0, 5):
time.sleep(0.5)
print(i)
# head between -2 (right) to 2 (left)
# ball between 0 (left) to 640 (right)
newHeadYaw = 0.2
motionProxy.gotoAngle("HeadYaw",newHeadYaw,TimeInterpolation*10,1)
# if(val):
# if(val[0]>0):
# # we detected logos !
# # for each logo, we can read its coordinates
# print "Number of logos detected:", val[0]
# for i in range(0, val[0]):
# print " ID: %d , x: %f, y: %f, sx: %f" % (val[i+1][0], val[i+1][1], val[i+1][2], val[i+1][3])
# else:
# print "* No logo detected"
motionProxy.setJointStiffness('HeadYaw',0.0,TimeInterpolation)
print "Test terminated successfully"
