"""
for i in range(0, N):
drawLine(frame, robtos[i], whites[i], BLUE)
"""
if isInputValidate(robots, whites):
prevWhite = whites
prevRobot = robots
if len(mx) == N:
now = time.time()
if lasttimeSent is None or now - lasttimeSent > PERIOD:
lasttimeSent = now
for i in range(0, N):
x, y, angle = getMovement(robots[i], whites[i], (mx[i], my[i]))
port.sendMessage(x, y, angle)
#else:
# print "invalid"
drawMarker(origin, prevRobot, prevWhite)
setUI(origin, prevRobot, prevWhite)
#setUI(frame)
vc.release()
