def __init__(self, parent):
self._init_ctrls(parent)
psyco.full()
self.laserscanner = HokuyoLaserScanner()
self.localisation = Localisation(400)
self.naofinder = NAOFinder(self.localisation)
self.network = Network()
## control variables
self.control = numpy.zeros(3)
# automatic
self.state = 'init' # states: init, chase, position, lost
self.statecount = 0
self.targetnumber = 0
#self.targets = [[250, -100], [250, 100], [50, 100], [50, -100]]
#self.targets = [[275, -10], [275, 10], [50, 10], [50, -10]]
self.targets = [[275, 0], [50, 0]]
# manual
self.up = False # set these to true when the key is pressed!
self.down = False
self.left = False
self.right = False
self.distance = 0
self.bearing = 0
self.orientation = 0
self.CartesianPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setNaoFinder(self.naofinder)
self.NaoPanel.setLocalisation(self.localisation)
self.closed = False
