def find_human(): global HUMAN_DETECTION_COUNTER,revolve_counter while revolve_counter==1 and PyPR2.getHeadPos()[0]<1.5 and HUMAN_DETECTION_COUNTER==0: revolve_cw() while revolve_counter==-1 and PyPR2.getHeadPos()[0]>-1.5 and HUMAN_DETECTION_COUNTER==0: revolve_acw() while PyPR2.getHeadPos()[0] >1.2 and HUMAN_DETECTION_COUNTER==0: revolve_counter = -1 revolve_acw() find_human() while PyPR2.getHeadPos()[0] <-1.2 and HUMAN_DETECTION_COUNTER==0: revolve_counter = 1 revolve_cw() find_human() if HUMAN_DETECTION_COUNTER!=0: adjust_to_shooting(PyPR2.getHeadPos()[1])
def find_human(): global HUMAN_DETECTION_COUNTER, revolve_counter while revolve_counter == 1 and PyPR2.getHeadPos( )[0] < 1.5 and HUMAN_DETECTION_COUNTER == 0: revolve_cw() while revolve_counter == -1 and PyPR2.getHeadPos( )[0] > -1.5 and HUMAN_DETECTION_COUNTER == 0: revolve_acw() while PyPR2.getHeadPos()[0] > 1.2 and HUMAN_DETECTION_COUNTER == 0: revolve_counter = -1 revolve_acw() find_human() while PyPR2.getHeadPos()[0] < -1.2 and HUMAN_DETECTION_COUNTER == 0: revolve_counter = 1 revolve_cw() find_human() if HUMAN_DETECTION_COUNTER != 0: adjust_to_shooting(PyPR2.getHeadPos()[1])
def adjust_to_shooting(): global last_proximity proximity = check_head_proximity() if proximity== True and last_proximity==False: PyPR2.moveBodyTo(0.0,0.0,(0.65)*PyPR2.getHeadPos()[0],1) #PyPR2.moveHeadTo(0.0,y) last_proximity = proximity
def adjust_to_shooting(): global last_proximity proximity = check_head_proximity() if proximity == True and last_proximity == False: PyPR2.moveBodyTo(0.0, 0.0, (0.65) * PyPR2.getHeadPos()[0], 1) #PyPR2.moveHeadTo(0.0,y) last_proximity = proximity
def revolve_acw(): (a,b) = PyPR2.getHeadPos() #PyPR2.say("searching") PyPR2.moveHeadTo(a-0.3,0.0)
def check_head_proximity(): (a,b) = PyPR2.getHeadPos() if a>0.6 or a<-0.6: return True else: return False
def revolve_acw(): (a, b) = PyPR2.getHeadPos() #PyPR2.say("searching") PyPR2.moveHeadTo(a - 0.3, 0.0)
def check_head_proximity(): (a, b) = PyPR2.getHeadPos() if a > 0.6 or a < -0.6: return True else: return False