currentHeadYaw = motionProxy.getAngle("HeadYaw")
print "currentHeadYaw: %f" % currentHeadYaw
xtodeg = ((160.0-val)/160.0) # between 1 (left) to -1 (right)
print "xtodeg: %f" % xtodeg
if (abs(xtodeg)>0.05):
xtodegfactor = 23.2 #46.4/2
newHeadYaw = currentHeadYaw + (xtodeg*xtodegfactor*motion.TO_RAD)
print "newHeadYaw: %f" % newHeadYaw
#motionProxy.setAngle("HeadYaw",(320.0-val)/320.0/2)
motionProxy.gotoAngle("HeadYaw",newHeadYaw,TimeInterpolation*10,1)
#print "test: %f" % ((320.0-val)/320.0/2)
else:
print "* No ball detected"
# 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)
visionProxy.unRegisterFromVIM()
print "Test terminated successfully"
try:
sampleProxy = ALProxy("vision", IP, PORT)
except Exception, e:
print "Error when creating vision proxy:"
print str(e)
exit(1)
time.sleep(1)
print "Registering to VIM"
sampleProxy.registerToVIM()
print "done"
####
# Save image in remote mode
print "1"
sampleProxy.saveImageRemote("/var/tmp/img") # /var/volatile/log/myBeautifullPictureRemote
print "2"
time.sleep(1)
a = sampleProxy.getBallAreaRemote()
print "3"
# sampleProxy.saveImage("/var/tmp/myBeautifullPictureLocal") #/var/volatile/log/myBeautifullPictureLocal
time.sleep(2)
print "4"
sampleProxy.unRegisterFromVIM()
print "5"
print "end of gvm_useGVMsample python script"
