class Launcher:
def __init__(self):
self.vision = VisionLauncher(0)
self.com = Communication()
self.pitch = Pitch()
def launch(self):
self.vision.launch_vision()
pass
def begin_task1(self):
t = Thread(target=self.task1)
t.start()
return t
def task1(self):
self.vision.wait_for_start()
sleep (3)
def update_ball_position():
self.pitch.positions['ball'] = self.vision.get_ball_pos()
def update_robot_position():
self.pitch.positions['robot'] = self.vision.get_robot_midpoint(self.pitch.robot_color)
def update_robot_direction():
angle = self.vision.get_robot_direction(self.pitch.robot_color)
angle = -1 * angle
while -180 >= angle or angle > 180:
if -180 >= angle:
angle += 360
else:
angle -= 360
self.pitch.directions['robot'] = angle
update_ball_position()
update_robot_position()
update_robot_direction()
# TODO DELETE
# self.pitch.positions['ball'] = (23,23)
# self.pitch.positions['robot'] = (46,46)
# self.pitch.directions['robot'] = 0
distance_angle = self.pitch.get_distance('robot', 'ball')
turning_angle = self.pitch.get_turn_object('robot', distance_angle[1])
self.com.ungrab()
self.com.unkick()
sleep(1)
if turning_angle > 0:
self.com.turn_clockwise(turning_angle)
else:
self.com.turn_anticlockwise(-1 * turning_angle)
sleep(5)
self.com.move_forward(int(distance_angle[0] * self.pitch.ratio))
sleep(5)
self.com.grab()
def end(self):
self.com.close()
pass
def __init__(self):
self.vision = VisionLauncher(0)
self.com = Communication()
self.pitch = Pitch()