# main loop
while (True):
clock.tick()
curr_t = pyb.millis()
#print (curr_t - t)
t = curr_t
selfData = {}
for i in range(12):
# motion part. Head movement.
a, b = motion.move_head()
model.updateCameraPanTilt(a, b)
# vision part. Taking picture.
img = sensor.snapshot().lens_corr(strength=1.2, zoom=1.0)
cameraDataRaw = vision.get(
img,
objects_list=["yellow_posts", "blue_posts", "ball"],
drawing_list=["yellow_posts", "blue_posts", "ball"])
# cameraDataRaw=vision.get(img, objects_list=["yellow_posts", "ball", "white_posts_support"],
# drawing_list=["yellow_posts", "ball", "white_posts_support"])
# vision_postprocessing.process (cameraDataRaw, "yellow_posts", "white_posts_support")
cameraDataProcessed = cameraDataRaw
# model part. Mapping to world coords.
# self means in robots coords
for observationType in cameraDataProcessed:
if observationType not in selfData.keys():
selfData[observationType] = []
selfPoints = []
