class MissionPick(StandardMission):
def __init__(self, name):
self.name = name
StandardMission.__init__(self, self.name, "/mission/pick",
self.callback)
self.vision = VisionCollector("drum")
self.echo(self.name, "PICK GOLF SETUP FINISHED")
self.state = False
def callback(self, request):
result = False
self.state = request.data
if (not self.ok_state()):
return False
self.fix_z(-0.5)
self.reset_target("xy")
self.wait_state("z", 0.1, 5)
found_object = self.step_01()
if (not found_object):
self.echo(self.name, "Don't found object mission aborted")
return False
else:
self.step_03()
result = True
return result
def step_01(self): # find golf in a drum
found_golf = False
mode_control = 1 # mode control is survey around drum
# 1 is left 2 is right 3 is up 4 is down
value_x = 0
value_y = 0
count_change_mode = 0
count_found_golf = 0
limit_mode = 10
self.echo(self.name, "We command to hold for pick golf")
self.hold_golf()
self.echo(self.name, "We command finish")
while (self.ok_state()):
self.sleep(0.1)
if (mode_control == 1):
self.vision.analysis_all("blue", "left-right", 5)
self.echo_vision(self.vision.echo_special())
if (self.vision.result["cx_1"] < -0.5):
value_y = 0.1
elif (self.vision.result["cx_1"] > 0.0):
value_y = -0.1
else:
value_y = 0
if (abs(self.vision.result["cy_1"]) < 0.5):
value_x = 0
else:
value_x = math.copysign(0.05, self.vision.result["cy_1"])
elif (mode_control == 2):
self.vision.analysis_all("blue", "left-right", 5)
self.echo_vision(self.vision.echo_special())
if (self.vision.result["cx_2"] > 0.5):
value_y = -0.05
elif (self.vision.result["cx_2"] < 0.0):
value_y = 0.05
else:
value_y = 0
if (abs(self.vision.result["cy_2"]) < 0.5):
value_x = 0
else:
value_x = math.copysign(0.05, self.vision.result["cy_2"])
self.echo(
self.name + " Mode " + str(mode_control),
"We command velocity x : y --> " + str(value_x) + " : " +
str(value_y))
self.velocity({'x': value_x, 'y': value_y})
self.sleep(0.1)
self.vision.analysis_all("golf", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
# This part will discus about data from vision
if (self.vision.have_object()):
count_found_golf = 0
self.echo(self.name, "Find golf move to center of golf")
while (self.ok_state() and abs(count_found_golf) < 15):
self.sleep(0.1)
self.vision.analysis_all("golf", "sevinar", 5)
if (self.vision.have_object()):
count_found_golf += 1
self.velocity({
'x':
math.copysign(0.1, self.vision.center_y()),
'y':
math.copysign(0.1, -1 * self.vision.center_x())
})
else:
count_found_golf -= 0
self.echo(self.name,
"Found golf is " + str(count_found_golf))
if (count_found_golf == 15):
return True
if (value_x == 0 and value_y == 0):
count_change_mode += 1
self.echo(self.name,
"count_change_mode " + str(count_change_mode))
if (count_change_mode == limit_mode):
mode_control += 1
count_change_mode = 0
if (mode_control > 2):
return False
print("Finish loop")
def step_02(self): # this part we will pick a ball
self.echo(self.name, "We will start to pick ball")
self.fix_z(-0.8)
count_ok_depth = 0
value_x = 0
value_y = 0
self.free_xy(True)
while (self.ok_state()):
self.vision.analysis_all("golf", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.center_x() < -0.5): value_y = -0.1
elif (self.vision.center_x() > -0.1): value_y = 0.1
else: value_y = 0
if (self.vision.center_y() < 0.1): value_x = 0.1
elif (self.vision.center_y() > 0.5): value_x = -0.1
else: value_x = 0
self.echo(self.name,
" vel x : y is" + str(value_x) + " : " + str(value_y))
self.velocity({'x': value_x, 'y': value_y})
if (self.check_position("z", 0.15)):
count_ok_depth += 1
else:
count_ok_depth = 0
if (value_x == 0 and value_y == 0):
self.echo(self.name, "Target on lock")
if (count_ok_depth > 5):
self.echo(self.name, "We will move down now ")
start_time = time.time()
diff_time = 0
self.velocity_z(-0.1)
while (self.ok_state() and diff_time < 10):
self.sleep(0.1)
self.reset_target("xy")
diff_time = time.time() - start_time
self.echo(self.name, "Now time is " + diff_time)
self.reset_velocity("z")
self.fix_z(-0.5)
self.free_xy(False)
break
self.echo(self.name, "Finish pick golf it ok?")
def step_03(self):
self.echo(self.name, "We will start to pick ball")
current_fix_velocity = False
value_x = 0
value_y = 0
self.fix_z(-0.8)
self.wait_state("z", 0.1, 5)
self.free_xy(True)
while (self.ok_state()):
self.sleep(0.05)
self.vision.analysis_all("golf", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.have_object()):
if (self.vision.center_x() > -0.4): value_y = -0.2
else: value_y = 0.1
if (self.vision.center_y() < 0.3): value_x = -0.15
else: value_x = 0.10
self.echo(
self.name,
"Vel x : y are " + str(value_x) + " : " + str(value_y))
self.velocity({'x': value_x, 'y': value_y})
else:
if (not current_fix_velocity):
self.velocity_z(-0.03)
current_fix_velocity = True
value_y = 0.0
value_x = 0.0
self.velocity({'y': value_y, 'x': value_x})
self.echo(
self.name,
"Vel x : y are " + str(value_x) + " : " + str(value_y))
self.target_state()
class MissionQualification(StandardMission):
def __init__(self, name):
self.name = name
StandardMission.__init__(self, self.name, "/mission/qualification",
self.callback)
self.vision = VisionCollector("qualification")
self.state = False
print("MISSION QUALIFICATION FINISHED SETUP")
def callback(self, message):
result = False
if (message.data and self.state):
self.echo(self.name, "Now mission qualification have running")
return False
elif (message.data):
self.state = True
else:
self.state = False
return False
# This function will call by switch we must to reset data target
self.reset_target("xy")
self.reset_target("yaw")
self.reset_velocity("xy")
self.fix_z(-0.5)
self.echo(self.name, "START MISSION QUALIFICATION")
# This situation we don't know what picture we have to find but we known we have start
# direct we will go forward until find the picture
self.type_pier = 0 # -1 : 0 : 1 is single left : double pier : single right
self.collect_state()
self.velocity_xy(0.3, 0)
count_have_object = 0
start_time = time.time()
while (self.ok_state()):
self.sleep(0.05)
if ((time.time() - start_time) < 5):
self.echo(self.name,
"Now time is " + str(time.time() - start_time))
continue
self.vision.analysis_all("qualification", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.have_object()):
count_have_object += 1
if (count_have_object == 6):
break
else:
count_have_object = 0
self.echo(
self.name, "distance : count_have_object are " +
str(self.distance()) + str(count_have_object))
if (self.distance() > 4.5):
self.reset_velocity("xy")
self.velocity_xy(0.1, 0)
# we want to ensure we find object 3 round and next we will move follow data
self.reset_velocity("xy")
self.fix_z(-0.3)
self.vision.analysis_all("qualification", "servinar", 5)
# we assign data of run_type is
# 1 <== Found only single pier # 2 <== Found double pier <All GATE>
# 3 <== Solution of last move form found single pier
if (self.vision.num_object() == 2): self.run_type = 2
elif (self.vision.num_object() == 1): self.run_type = 1
else: self.run_type = 0
self.echo(
self.name,
"We will start do it on function type : " + str(self.run_type))
while (self.ok_state()):
if (self.run_type == 1): self.type_1()
elif (self.run_type == 2): self.type_2()
elif (self.run_type == 3): self.type_3()
else: break
self.echo(self.name, "Finished run callback alway response TRUE")
return True
def type_1(self):
if (self.type_pier == 0):
self.vision.analysis_all("qualification", "sevinar", 5)
self.echo_vision(self.vision.echo_specific())
if (self.vision.num_object() == 1):
if (self.vision.center_x() < 0):
self.echo(self.name, "I decide that pier is left pier")
self.type_pier = -1
else:
self.echo(self.name, "I decide that pier is right pier")
self.type_pier = 1
elif (self.vision.num_object() == 2):
self.type_pier = 0
self.echo(self.name, "What I found 2 pier why?")
self.run_type = 2
return 0
count_not_single = 0
count_not_found = 0
while (self.ok_state()):
self.sleep(0.05)
self.vision.analysis_all("qualification", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.num_object() == 1):
count_not_single = 0
count_not_found = 0
if (abs(self.vision.center_x()) < 0.3):
self.velocity({'x': 0.10})
self.echo(
self.name, "type_1 object : " + str(self.type_pier) +
" We decide to move forward")
elif (self.vision.center_x() < 0):
self.velocity({'y': 0.1})
self.echo(
self.name, "type_1 object : " + str(self.type_pier) +
" We decide to move left")
elif (self.vision.center_x() > 0):
self.velocity({'y': -0.1})
self.echo(
self.name, "type_1 object : " + str(self.type_pier) +
" We decide to move right")
else:
self.echo(self.name, "BUG ON LINE 127")
self.run_type = 0
break
self.echo_vision(self.vision.echo_specific())
if (self.vision.distance_x() > 0.1):
self.echo(
self.name,
"Now over distance we have to chance to last move")
self.run_type = 3
break
elif (self.vision.num_object() == 2):
self.velocity(
{'y': math.copysign(0.1,
self.vision.center_x() * -1)})
self.run_type = 2
self.type_pier = 0
break
else:
count_not_found += 1
self.echo(self.name,
"type_1 not_found pier : " + str(count_not_found))
if (count_not_found == 5):
self.run_type = 0
self.relative_xy(5, math.copysign(1.5, self.type_pier))
self.echo(
self.name, "We decide to last move side is " +
str(math.copysign(1.5, -1 * self.type_pier)))
break
def type_2(self):
count_not_found = 0
count_not_doulbe = 0
current_fix_velocity = False
while (self.ok_state()):
self.sleep(0.1)
self.vision.analysis_all("qualification", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.num_object() == 2):
count_not_doulbe = 0
count_not_found = 0
if (abs(self.vision.center_x()) < 0.10):
if (not current_fix_velocity):
self.velocity_xy(0.2, 0)
current_fix_velocity = True
self.echo(self.name,
"type_2 we move direct by fix velocity")
elif (self.vision.center_x() < 0):
if (current_fix_velocity):
current_fix_velocity = False
self.reset_velocity("xy")
self.velocity({'y': 0.1})
self.echo(self.name, "type_2 we move left")
elif (self.vision.center_x() > 0):
if (current_fix_velocity):
current_fix_velocity = False
self.reset_velocity("xy")
self.velocity({'y': -0.1})
self.echo(self.name, "type_2 we move right")
self.echo_vision(self.vision.echo_specific())
if (self.vision.distance_x() > 1.0):
self.echo(
self.name,
"Now over distance we decide to only move forward")
self.run_type = 0
if (not current_fix_velocity):
self.velocity_xy(0.3, 0)
self.echo(self.name,
"We order contant velocity x is 0.3")
current_fix_velocity = True
break
elif (self.vision.num_object() == 1):
if (current_fix_velocity):
current_fix_velocity = False
self.reset_velocity("xy")
count_not_doulbe += 1
self.echo(
self.name, "Type 2 we found only single pier : " +
str(count_not_doulbe))
if (count_not_doulbe == 5):
self.echo(self.name,
"We change to mode type 1 single pier")
self.run_type = 1
self.type_pier = 0
break
else:
count_not_found += 1
self.echo(self.name,
"Type 2 we not found pier : " + str(count_not_found))
if (count_not_found == 5):
self.echo(self.name, "Last move")
self.run_type = 0
self.type_pier = 0
if (not current_fix_velocity):
self.velocity_xy(0.3, 0)
self.echo(self.name,
"I don't know what should I do FORWARD!")
current_fix_velocity = True
break
def type_3(self):
self.echo(
self.name, "We move in last mode type_3 and type peir is " +
str(self.type_pier))
# this step we will move side to don't find pier and
# will move a little time befor move forward
count_not_found = 0
while (self.ok_state()):
self.sleep(0.1)
self.vision.analysis_all("qualification", "sevinar", 5)
self.echo(
self.name, "Type 3 and move slide to don't have object : " +
str(count_not_found))
self.velocity({'y': math.copysign(0.10, self.type_pier)})
if (self.vision.have_object()):
count_not_found = 0
else:
count_not_found += 1
if (count_not_found == 5):
break
start_time = time.time()
self.echo(self.name, "Move side 3 second")
while (self.ok_state()):
self.sleep(0.1)
diff_time = time.time() - start_time
self.velocity({'y': math.copysign(0.10, self.type_pier)})
self.echo(self.name, "Type3 now move time is " + str(diff_time))
if (diff_time > 5): break
self.echo(self.name, "Time out move forward")
self.velocity_xy(0.3, 0)
self.run_type = 0
class MissionGate(StandardMission):
def __init__(self, name):
self.name = name
StandardMission.__init__(self, self.name, "/mission/gate",
self.callback)
self.vision = VisionCollector("gate")
self.echo(self.name, "GATE SETUP FINISHED")
self.state = False
def callback(self,
request): # Divide to 2 part move to center and direction
result = False
self.state = request.data
if (not self.ok_state()):
return False
self.echo(self.name, "START MISSION GATE")
count = 0
count += self.step_01()
if (count != 0):
result = self.step_02(count)
self.fix_z(-0.5)
return result
def step_01(self):
result = 0
count_unfound = 0
while (self.ok_state()):
self.sleep(0.1)
self.vision.analysis_all("gate", "sevinar", 5)
self.echo_vision(self.vision.echo_data())
if (count_unfound == 5):
break
if (not self.vision.have_object()):
count_unfound += 1
continue
count_unfound = 0
if (self.vision.result['pos'] == 0):
temp_center_x = self.vision.center_x()
if (abs(temp_center_x) < 0.1):
self.echo(self.name, "Found Pos : 0 and Move Forward")
self.velocity({'x': 0.2})
elif (temp_center_x < 0):
self.echo(self.name, "Found Pos : 0 and Move Left")
self.velocity({'y': 0.1})
else:
self.echo(self.name, "Found Pos : 0 and Move Right")
self.velocity({'y': -0.1})
if (self.vision.area() > 0.6):
self.collect_state()
self.echo(self.name, "Area are over let play direct")
self.velocity_xy(0.2, 0)
self.sleep()
self.relative_z(-0.3)
result = 1
break
elif (self.vision.result['pos'] == -1):
self.echo(self.name, "Found Pos : -1 and Move Left")
self.velocity({'y': 0.2})
elif (self.vision.result['pos'] == 1):
self.echo(self.name, "Found Pos : 1 and Move Right")
self.velocity({'y': -0.2})
return result
def step_02(self, num_type):
self.echo(self.name, "Welcome to step 2 check movement")
if (num_type == 1): # have fix velocity
while (self.ok_state()):
self.sleep()
distance = self.distance()
self.echo(self.name, "Now distance " + str(distance))
if (distance > 2.5):
self.reset_velocity("xy")
self.relative_z(0.3)
break
count_ok = 0
while (not rospy.is_shutdown()):
self.sleep()
if (self.check_position("z", 0.15)):
count_ok += 1
if (count_ok == 5):
break
else:
count_ok = 0
self.echo(self.name, "Count ok depth is " + str(count_ok))
return True
elif (num_type == 2): # non fix velocity
count_ok = 0
while (self.ok_state()):
self.sleep()
if (self.check_position("xy", 0.1)):
count_ok += 1
if (count_ok == 5):
break
else:
count_ok = 0
self.echo(self.name, "Count ok xy is " + str(count_ok))
count_ok = 0
while (not rospy.is_shutdown()):
self.sleep()
if (self.check_position("z", 0.15)):
count_ok += 1
if (count_ok == 5):
break
else:
count_ok = 0
self.echo(self.name, "Count ok depth is " + str(count_ok))
return True
else:
return False
class MissionGate(StandardMission):
def __init__(self, name):
self.name = name
StandardMission.__init__(self, self.name, "/mission/flare",
self.callback)
self.vision = VisionCollector("flare")
print("FLARE FINISHED SETUP")
def callback(self,
message): # Divide to 2 part move to center and direction
result = False
self.echo(self.name, "START MISSION FLARE")
result = self.step_01()
if (result): result = self.step_02()
return result
def step_01(self): # play in far mode and try to find in near mode
self.echo(self.name, "PLAY STEP ONE TO FIND FLAR IN FAR MODE")
count_unfound = 0
while (not rospy.is_shutdown()):
self.sleep(0.1)
self.vision.analysis_all("flare", "far", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.have_object()):
count_unfound = 0
if (abs(self.vision.center_x()) < 0.3):
self.velocity({'x': 0.1})
self.echo(self.name, "FARMODE Move FORWARD")
elif (self.vision.center_x() < 0):
self.velocity({'y': 0.08})
self.echo(self.name, "FARMODE MOVE LEFT")
elif (self.vision.center_x() > 0):
self.velocity({'y': -0.08})
self.echo(self.name, "FARMODE MOVE RIGHT")
else:
self.echo(
self.name,
"\tERROR IN LINE 59 ====================================="
)
else:
count_unfound += 1
self.echo(self.name, "WARNING UNFOUND : " + str(count_unfound))
if (count_unfound == 5):
break
self.vision.analysis_all("flare", "near", 5)
if (self.vision.have_object()):
self.echo(self.name, "FOUND IN NEAR MODE")
self.reset_target("xy")
break
if (count_unfound == 5):
return False
else:
return True
def step_02(self): # play in near mode
self.echo(self.name, "PLAY STEP TWO TO FIND FLAR AND TARGET DASH")
count_unfound = 0 # this variable is about picture
count_ok = 0 # this variable is about position
haved_reset_target = False
while (not rospy.is_shutdown()):
self.sleep(0.1)
self.vision.analysis_all("flare", "near", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.have_object()):
count_unfound = 0
if (abs(self.vision.center_x()) < 0.5):
if (not haved_reset_target):
self.reset_target("xy")
self.echo(self.name, "NEARMODE Renew target")
self.echo(
self.name,
"NEARMODE That center we will move direct if we can")
if (self.check_position("xy", 0.05)):
count_ok += 1
if (count_ok == 5):
self.velocity_xy(0.2, 0)
self.echo(self.name, "NEARMODE GO DIRECT")
break
else:
count_ok = 0
elif (self.vision.center_x() < 0):
self.velocity({'y': 0.05})
self.echo(self.name, "NEARMODE MOVE LEFT")
elif (self.vision.center_x() > 0):
self.velocity({'y': -0.05})
self.echo(self.name, "NEARMODE MOVE RIGHT")
else:
self.echo(
self.name,
"\tERROR IN LINE 112 ====================================="
)
else:
count_unfound += 1
if (count_unfound == 5):
break
while (not rospy.is_shutdown() and count_unfound < 5):
self.sleep(0.1)
self.vision.analysis_all("flare", "near", 5)
self.echo_vision(self.vision.echo_data())
if (self.vision.have_object()):
count_unfound = 0
else:
count_unfound += 1
self.fix_z(-0.1)
return True
class MissionDrum(StandardMission):
def __init__(self, name):
self.name = name
StandardMission.__init__(self, self.name, "/mission/drop",
self.callback)
self.vision = VisionCollector("drum")
self.state = False
self.echo(self.name, "DROP BALL SEtuP FINISHER")
def callback(self, request):
result = False
self.state = request.data
if (not self.ok_state()):
return False
self.echo(self.name, "START MISSION DROP BALL")
self.wait_state("yaw", 0.1, 5)
self.step_01()
return True
def step_01(self):
count_Time = False
self.echo(self.name, "START AT STEP 01")
value_x = 0
value_y = 0
start_time = 0
ever_drop = False
self.velocity_z(-0.03)
self.wait_state("z", 0.1, 5)
current_fix_z = False
while (self.ok_state()):
self.vision.analysis_all("blue", "left-right", 5)
self.echo_vision(self.vision.echo_special())
self.echo_vision(self.vision.echo_data())
if (abs(self.vision.center_x()) < 0.15):
value_y = 0
else:
value_y = math.copysign(0.1, -1 * self.vision.center_x())
if (abs(self.vision.center_y()) < 0.15):
value_x = 0
else:
value_x = math.copysign(0.1, self.vision.center_y())
# if( not self.vision.result["forward"] ):
# value_x = -0.2
# elif( not self.vision.result["backward"] ):
# value_x = 0.2
# else:
# value_x = 0
self.echo(
self.name, "I command velocity x : y are " + str(value_x) +
" : " + str(value_y))
if (not count_Time):
self.target_state()
self.echo(self.name,
"Node depth is " + str(self.temp_state[2]))
if (self.temp_state[2] < -1.3):
count_Time = True
start_time = time.time()
self.free_xy(True)
else:
diff_time = time.time() - start_time
self.echo(self.name, "Count time for drop " + str(diff_time))
if (diff_time > 5):
break
elif (diff_time > 2 and not ever_drop):
self.echo(self.name, "We have to command drop ball")
self.fire_golf()
else:
continue
self.velocity({'x': value_x, 'y': value_y})
self.reset_velocity("z")
self.fix_z(-0.5)
self.wait_state("z", 0.1, 5)
self.free_xy(False)
self.reset_target("xy")
class MissionQualification( StandardMission ):
def __init__( self , name ):
self.name = name
StandardMission.__init__( self , self.name , "/mission/qualification" , self.callback )
self.vision = VisionCollector("qualification")
print("QUALIFICATION FINISHED SETUP")
def callback( self , message): # Divide to 2 part move to center and direction
result = False
self.temp_pier = 0
self.reset_target( "xy" )
self.reset_target( "yaw" )
self.fix_z( -0.3 )
self.echo( self.name , "START MISSION QUALIFICATION")
self.collect_state()
self.velocity_xy( 0.2 , 0 )
while( not rospy.is_shutdown() ):
self.sleep( 0.1 )
self.vision.analysis_all( "qualification" , "sevinar" , 5 )
if( self.vision.have_object() ):
self.echo( self.name , "Now have object ")
break
else:
self.echo( self.name , "Never found and distance is " + str( self.distance()) )
self.reset_velocity("xy")
self.run_type = 1
while( not rospy.is_shutdown() and not result ):
if( self.run_type == 0 ): break
elif( self.run_type == 1 ): self.move_forward()
elif( self.run_type == 2 ): self.move_center()
elif( self.run_type == 3 ): result = self.last_move()
elif( self.run_type == 4 ): result = self.relative_move()
return result
def move_forward( self ):
self.velocity_xy( 0.2 , 0 )
count_have_object = 0
count_out_center = 0
self.run_type = 0
while( not rospy.is_shutdown() ):
self.sleep(0.05)
self.vision.analysis_all( "qualification" , "sevinar" , 5 )
self.echo_vision( self.vision.echo_data() )
if( self.vision.num_object() == 2):
count_have_object = 0
if( self.vision.center_x() < 0.2 ):
self.echo( self.name , "MODE_FORWARD Move forward ok center")
count_out_center = 0
else:
count_out_center += 1
self.echo( self.name , "MODE_FORWARD Out center : " +
str( count_out_center ) )
if( count_out_center == 5 ):
self.run_type = 2
break
if( self.vision.area() > 0.5 ):
self.run_type = 3
break
elif( self.vision.num_object() == 1 ):
self.run_type = 4
break
else:
count_have_object += 1
self.echo( self.name , "MODE_FORWARD Count don't have object is " +
str( count_have_object ))
if( count_have_object == 5 ):
self.run_type = 3
break
self.reset_velocity( "xy" )
def move_center( self ):
count_have_object = 0
while( not rospy.is_shutdown() ):
self.sleep(0.05)
self.vision.analysis_all( "qualification" , "sevinar" , 5 )
self.echo_vision( self.vision.echo_data() )
if( self.vision.num_object() == 2 ):
count_have_object = 0
if( self.vision.center_x() < 0.2 ):
self.run_type = 1
break
elif( self.vision.center_x() < 0 ):
self.velocity( {'y' , 0.1 } )
self.echo( self.name , "Now we move Left")
elif( self.vision.center_x() > 0 ):
self.velocity( {'y' , -0.1 } )
self.echo( self.name , "Now we move Right")
elif( self.vision.num_object() == 1 ):
self.run_type = 4
break
else:
count_have_object += 1
self.echo( self.name , "Count don't have object is " + str( count_have_object))
if( count_have_object == 5 ):
self.run_type = 3
break
def relative_move( self ):
self.vision.analysis_all( "qualification" , "servinar" , 5 )
if( self.vision.center_x() < 0 ):
self.echo( self.name , "Last move relative RIGHT")
self.relative_xy( 3 , -1 )
else:
self.echo( self.name , "Last move relative LEFT")
self.relative_xy( 3 , 1 )
return True
def last_move( self ):
self.echo( self.name , "Last move forward by velocity_xy 0.3")
self.velocity_xy( 0.3 , 0 )
return True
