class VisionBlargh(Blargh): def __init__(self): # Initialize the Vision wrapper class for the vision library self.vision = Vision() def step(self, inp): # TODO: Handle more than one ball; handle walls # Update the frame self.vision.bar() # If there is more than 0 balls, then return the location of the first # ball-blob if (self.vision.getNumBalls() > 0): return (self.vision.getR(0), self.vision.getTheta(0)) else: return None