host = sys.argv[1] if len(sys.argv) > 1 else 'localhost' port = int(sys.argv[2]) if len(sys.argv) > 2 else 1024 sc = SoccerClient() sc.connect(host, port) # if you need only one calculation you do not need the while while True: # set input values my_input["ball_angle"] = math.degrees(sc.get_ball_angle()) my_input["target_angle"] = math.degrees(sc.get_target_angle()) my_input["robot_spin"] = math.degrees(sc.get_spin()) my_input["ball_distance"] = sc.get_ball_distance() my_input["obstacle_distance"] = sc.get_obstacle_distance() my_input["target_distance"] = sc.get_target_distance() my_input["obstacle_angle"] = math.degrees(sc.get_obstacle_angle()) # calculate system_direction.calculate(my_input, my_output) # now use outputs #angle = my_output["angle"] #angle = 0.0 print "---------------------------------------------------------------------------------" print "Ball_angle: ", my_input["ball_angle"], "target_angle ", my_input["target_angle"], "spin: " , my_input["robot_spin"] print "Ball_distance", my_input["ball_distance"], "obstacle_distance", my_input["obstacle_distance"], my_input["obstacle_angle"] print "---------------------------------------------------------------------------------" #print "angle: ", angle, "left: ", force_left, "right: ", force_right force_left = my_output["r_left"]