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ControllerB.py
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# -*- coding: utf-8 -*-
import time
from Robo import Robo
from Head import Head
from Motion import Motion
import Distance
# Par 4
class Act:
TEESHOTB = 1 # 1. 맨 처음 티샷
SECSHOT = 2
WALK_BALL = 3 # 2. 공까지 걸어가기 (걸음수)
PUTTING_POS = 4 # 3. 퍼팅 위치에 서기
PUTTING = 5 # 4. 퍼팅
HOLEIN = 6 # 5. 홀인
class ControllerB:
def __init__(self):
# act = Act.TEESHOTB
pass
act = Act.TEESHOTB
robo = Robo()
@classmethod
def start(self):
act = self.act
robo = self.robo
head = Head()
motion = Motion()
#=======================================================#
# Head def #
#=======================================================#
def big_UD(object="ball"):
big_ud_angle = 100
# big UD head
while True:
is_object_in_frame, Distance.Head_ud_angle = head.big_UD_head(object, big_ud_angle)
if is_object_in_frame == True:
big_ud_angle = Distance.Head_ud_angle
return "Success"
elif is_object_in_frame == False:
big_ud_angle = Distance.Head_ud_angle
if Distance.Head_ud_angle == 55: # Distance.Head_UD_Middle_Value_Measures - 100 + 10 + 45: # big ud 한 사이클이 끝남. / 9는 바뀔 수 있는 값
#Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures # 고개값을 다시 정면100으로
return "Except"
else:
continue
def small_UD(object="ball"):
small_ud_angle = 55
while True:
is_horizontal_middle, small_ud_temp = head.small_UD_head(object, small_ud_angle)
if is_horizontal_middle == True: #최종 중앙 맞춰짐
return "Success"
elif is_horizontal_middle == False:
small_ud_angle = small_ud_temp
continue
else: # is_horizontal_middle == Except_
return "Except"
def big_LR(object="ball"):
Distance.head_lr_angle = 100
max_right_flag = 0
print("THis is ", object)
# big LR head
while True:
is_object_in_frame, small_lr_temp, max_right_flag = head.big_LR_head(object, Distance.head_lr_angle, max_right_flag)
if small_lr_temp == 190: #왼쪽 max까지 갔는데 공 못찾으면
Distance.head_lr_angle = 100
robo._motion.head("DEFAULT", 2)
return "Except"
if is_object_in_frame == True:
return "Success"
elif is_object_in_frame == False:
Distance.head_lr_angle = small_lr_temp
print("head_lr_angle : ", Distance.head_lr_angle)
continue
#고개 정면 코드 추가하기
def ball_small_LR(object="ball"): # ball은 small lr끝난뒤 몸 돌리고 고개 default함
Distance.head_lr_angle = 100
cnt = 0
while True:
cnt += 1
print(cnt)
print("---------start small lr head")
is_vertical_middle, small_lr_temp = head.small_LR_head(object, Distance.head_lr_angle)
if cnt > 40:
print("small lr,,, cnt > 40,,, except")
return "Except"
if is_vertical_middle == True:
return "Success" #break
elif is_vertical_middle == False:
Distance.head_lr_angle = small_lr_temp
continue
else : # is_vertical_middle == Except_
return "Except"
def small_LR(object="ball2"): # ball은 small lr끝난뒤 몸, 고개 그대로, 끝.
#Distance.head_lr_angle = 100
while True:
print("---------start small lr head")
is_vertical_middle, small_lr_temp = head.small_LR_head(object, Distance.head_lr_angle)
if is_vertical_middle == True:
return "Success" #break
elif is_vertical_middle == False:
Distance.head_lr_angle = small_lr_temp
continue
else : # is_vertical_middle == Except_
return "Except"
def UD_for_dist(object="ball"): # small ud head 변형
small_ud_angle = Distance.Head_ud_angle
time.sleep(0.5)
# 거리를 위한 고개 각도 내리기
while True:
print("---------start ud for dist")
is_horizontal_middle, small_ud_temp = head.head_for_dist(object, small_ud_angle)
# 100 이상에서 검출될 경우 예외처리
if small_ud_temp >= 100 :
small_ud_temp = 91
Distance.Head_ud_angle = 91
motion.head("DOWN", 9)
continue
if is_horizontal_middle == True: #최종 중앙 맞춰짐
Distance.Head_ud_angle = small_ud_temp
if Distance.Head_ud_angle >= 90:
time.sleep(3)
continue
print("head UD angle : ", Distance.Head_ud_angle)
break
elif is_horizontal_middle == False:
small_ud_angle = small_ud_temp
Distance.Head_ud_angle = small_ud_temp
continue
# def holecup_UD_for_dist(): # small ud head 변형
# small_ud_angle = 10
# # 거리를 위한 고개 각도 올리기
# while True:
# print("---------start HOlECUP ud for dist")
# is_horizontal_middle, small_ud_temp = head.head_for_dist("holecup", small_ud_angle)
# if is_horizontal_middle == True: #최종 중앙 맞춰짐
# #act = Act.PUTTING_POS
# #variable.Head_ud_angle =
# Distance.Head_ud_angle = small_ud_temp
# print("holecup ud angle : ",Distance.Head_ud_angle)
# break
# elif is_horizontal_middle == False:
# if small_ud_angle > small_ud_temp : # 홀컵중점 바껴서 갇히는 현상 해결
# Distance.Head_ud_angle = small_ud_temp #(상관없) 더 최근 고개값 = 더 먼 거리값
# break
# small_ud_angle = small_ud_temp
# Distance.Head_ud_angle = small_ud_temp
# continue
###########
def ball_pos(role):
time.sleep(0.2)
motion.head ("DEFAULT", 63)
time.sleep(1)
print("++++++++++++++++++")
print("ball pos: ", role)
print("++++++++++++++++++")
is_center = False
if role == 'p41':
x,y = reference_point = [430, 306] # par3 1st teeshot # p41
v,w = 0,5
rectangle_coordinates = [x-v, y-w, x+w, y-w, x+w, y+v, x-v, y+v]
elif role == 'p42':
x,y = reference_point = [420, 310] # par4 2nd teeshot # p42
v,w = 0,5
rectangle_coordinates = [x-v, y-w, x+w, y-w, x+w, y+v, x-v, y+v]
elif role == 'p43':
x,y = reference_point = [390, 310] # par4 2nd teeshot # p42
v,w = 0,5
rectangle_coordinates = [x-v, y-w, x+w, y-w, x+w, y+v, x-v, y+v]
elif role == 'pr':
x,y = reference_point = [362, 312] # right putting shot # pr
v,w = 3,3
rectangle_coordinates = [x-v, y-w, x+w, y-w, x+w, y+v, x-v, y+v]
pr = 0
side_left_cnt = 0
side_right_cnt = 0
while not is_center:
red_center = robo._image_processor.detect_ball('call_midpoint')
x1, y1, x2, y2, x3, y3, x4, y4 = rectangle_coordinates
print("현재 빨간공 중심: ", red_center ,"목표 지점: ",reference_point)
if(red_center == None):
print("지금 화면안에 빨간 공 안보임")
motion.walk("BACKWARD")
time.sleep(3)
continue
else:
if(x1 <= red_center[0] <= x2 and y1 <= red_center[1] <= y4):
print("성공함요")
break
dx = red_center[0] - reference_point[0]
dy = red_center[1] - reference_point[1]
print("중앙에서 떨어진 거리: ", dx, dy, abs(dx),abs(dy))
# print("dx//30: ",dx//30 ,"dy//30",dy//30)
if(abs(dx)>=30):
if (dx<0):
motion.walk_side("LEFT10")
side_left_cnt += 1
if side_left_cnt % 2 == 0 and role is'pr':
motion.turn("LEFT",10)
time.sleep(0.5)
print("3")
else:
motion.walk_side("RIGHT10")
side_right_cnt += 1
if side_right_cnt % 2 == 0 and role is 'pr':
motion.turn("RIGHT",10)
time.sleep(0.5)
print("4")
elif(abs(dy)>=30):
if (dy<0):
motion.walk("2JFORWARD")
print("1")
else:
motion.walk("2JBACKWARD")
print("2")
else:
is_center = True
Distance.Head_ud_angle = 63
def Set_holecup_right():
time.sleep(0.1)
motion.head("DEFAULT", 0) # 고개 디폴트
time.sleep(0.1)
is_left = False
motion.Rarm("DOWN")
time.sleep(1)
for i in range(0,5):
time.sleep(0.1)
print("왼쪽에 있는지 확인")
is_holecup = robo._image_processor.detect_holecup()
print("CHECK HOLCUP : ", is_holecup)
if is_holecup:
print("왼편에 있음")
is_left = True
break
time.sleep(0.1)
motion.head("RIGHT",30)
time.sleep(0.5)
print("is_left: ", is_left)
motion.head("RIGHT",90) # 머리 오른쪽 90도
time.sleep(1)
print("팔 내리고 머리 90으로 돌림")
if is_left:
while True:
is_holecup = robo._image_processor.detect_holecup()
print("홀컵 있는지 확인", is_holecup)
if is_holecup:
print("찾음")
break
time.sleep(0.1)
robo._motion.holecup_turn('LEFT', 20)
print("완쪽으로 몸 돌리기")
time.sleep(1)
else:
while True:
time.sleep(0.1)
robo._motion.holecup_turn('RIGHT', 10)
print("오른쪽으로 몸 돌리기")
time.sleep(1)
is_holecup = robo._image_processor.detect_holecup()
print("홀컵있는지 확인", is_holecup)
if is_holecup:
print("찾음")
is_left = True
break
while True:
time.sleep(0.2)
# mid = 340
# min = mid - 8
# max = mid + 8
# mid = 230
mid = 315
min = mid - 15
max = mid + 15
holecup_midpoint = robo._image_processor.detect_holecup("call_toppoint")
print("홀컵 중앙은", holecup_midpoint, "목푤는 : ", min, max)
if is_left and holecup_midpoint == (0,0):
robo._motion.holecup_turn('LEFT', 10)
if min<=holecup_midpoint[0] <= max:
print("범위안에 들어옴 종료 성공")
robo._motion.Rarm('RESET')
time.sleep(0.5)
motion.head("DEFAULT", 0) # 고개 디폴트
time.sleep(0.5)
break
elif holecup_midpoint[0] >= max:
if holecup_midpoint[0] > max + 150:
print("RIGHT 회전하고 쉬기")
time.sleep(0.1)
robo._motion.holecup_turn('RIGHT', 20)
time.sleep(0.1)
else:
print("RIGHT 회전하고 쉬기")
time.sleep(0.1)
robo._motion.holecup_turn('RIGHT', 5)
time.sleep(0.1)
elif min>=holecup_midpoint[0]:
if min-150>=holecup_midpoint[0]:
print("왼쪽 회전하고 쉬기")
time.sleep(0.1)
robo._motion.holecup_turn('LEFT', 20)
time.sleep(0.1)
else:
print("왼쪽 회전하고 쉬기")
time.sleep(0.2)
robo._motion.holecup_turn('LEFT', 5)
time.sleep(0.1)
def Set_holecup_left():
time.sleep(0.5)
motion.head("DEFAULT", 0) # 고개 디폴트
### 고개 내리는 거
#motion.head("DOWN", 60) # 고개 디폴트
time.sleep(1)
is_right = False
#print("is_left: ", is_right)
for i in range(0,3):
time.sleep(0.1)
is_holecup = robo._image_processor.detect_holecup()
print(i,"HOLCUP은: ", is_holecup)
if is_holecup:
print("right편에 있음")
is_right = True
break
time.sleep(0.1)
motion.head("LEFT",30)
time.sleep(1)
print("is_left: ", is_right)
motion.head("LEFT",90) # 머리 오른쪽 90도
time.sleep(0.2)
print("머리 90으로 돌림")
if is_right:
while True:
is_holecup = robo._image_processor.detect_holecup()
print("홀컵 있는지 확인", is_holecup)
if is_holecup:
print("찾음")
break
time.sleep(0.1)
robo._motion.turn('RIGHT', 20)
print("오른쪽으로 몸 돌리기")
time.sleep(0.1)
else:
while True:
time.sleep(0.1)
is_holecup = robo._image_processor.detect_holecup()
print("홀컵있는지 확인", is_holecup)
if is_holecup:
print("찾음")
is_right = True
break
robo._motion.turn('LEFT', 45)
print("왼쪽으로 몸 돌리기")
time.sleep(0.1)
while True:
time.sleep(0.2)
holecup_midpoint = robo._image_processor.detect_holecup("call_toppoint")
# mid = 360 ###### if body left ++, if body right --
mid = 455
min = mid - 10
max = mid + 10
print("홀컵 중앙은", holecup_midpoint, "목푤는 : ", min, max)
if holecup_midpoint == (0,0):
robo._motion.turn('RIGHT', 20)
time.sleep(0.5)
if min <= holecup_midpoint[0] <= max:
print("범위안에 들어옴 종료 성공")
motion.head("DEFAULT", 0) # 고개 디폴트
time.sleep(1)
break
elif holecup_midpoint[0] > max:
print("오른쪽 5 회전하고 쉬기")
robo._motion.holecup_turn('RIGHT', 5)
time.sleep(0.1)
elif min>holecup_midpoint[0]:
if holecup_midpoint[0] < min-150:
print("왼쪽 10 회전하고 쉬기")
robo._motion.holecup_turn('LEFT', 10)
time.sleep(0.1)
else:
print("왼쪽 5 회전하고 쉬기")
robo._motion.holecup_turn('LEFT', 5)
time.sleep(0.1)
#=======================================================#
# 2. Teeshot B #
#=======================================================#
if act == Act.TEESHOTB: ##### 1. 시작 및 티샷 #################
print("ACT: ", act, "Teeshot B") # Debug
time.sleep(3)
is_ball = False
is_ball = robo._image_processor.detect_ball()
### False면, big UD LR 해라
if is_ball == False:
while True:
# big UD head
is_big_UD = big_UD("ball")
motion.head("DOWN", 9)
motion.head("DOWN", 6)
Distance.Head_ud_angle -= 15
if is_big_UD == "Except" : # big UD 검출안됨 -> big LR 로 넘어감
big_LR("ball2") # big은 알아서 고개 디폴트 함
is_small_LR = small_LR("ball2")
if is_small_LR == "Except" :
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(1)
continue
else:
break
else:
small_LR("ball2") # small lr 함으로써 중앙 맞춰짐
point = 0
# 점 3개 중에 결정
if Distance.head_lr_angle <= 85:
motion.walk_side("LEFT70") # loop문 추가 / 수정 필수
time.sleep(1)
motion.walk_side("LEFT70")
time.sleep(1)
motion.walk_side("LEFT70")
time.sleep(1)
motion.walk_side("LEFT70")
time.sleep(1)
motion.pose("RIGHT", True)
time.sleep(1)
motion.turn("RIGHT", 15)
print("1번 점에서 확인")
point = 1
p = 'p41'
elif Distance.head_lr_angle >= 150:
motion.walk_side("RIGHT70") # loop문 추가
time.sleep(1)
motion.walk_side("RIGHT70")
time.sleep(1)
motion.walk_side("RIGHT70")
time.sleep(1)
motion.walk_side("RIGHT70")
time.sleep(1)
motion.pose("LEFT", True)
time.sleep(1)
motion.turn("LEFT", 10)
print("3번 점에서 확인")
point = 3
p = 'p43'
else:
print("2번 점에서 확인")
motion.pose("LEFT", True)
time.sleep(2)
point = 2
p = 'p42'
#-----------------------------------------------------------------------------------------------------
# ud_for_dist 하기전에 고개 세팅
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(2)
# UD_for_dist("ball")
# motion.head("DEFAULT", 1) # ud for dist 이후 고개 상하 디폴트
# time.sleep(1)
ball_pos(p)
time.sleep(1)
if point == 1:
time.sleep(2)
motion.putting("RIGHT", 3)
time.sleep(5)
motion.turn("RIGHT", 45)
time.sleep(1)
motion.turn("RIGHT", 45)
time.sleep(1)
elif point == 2:
time.sleep(2)
motion.putting("PAR4", 1)
time.sleep(5)
motion.turn("LEFT", 45)
time.sleep(1)
motion.turn("LEFT", 45)
time.sleep(1)
# motion.turn("LEFT", 10)
# time.sleep(3)
elif point == 3:
time.sleep(2)
motion.putting("PAR4", 1)
time.sleep(5)
motion.turn("LEFT", 45)
time.sleep(1)
motion.turn("LEFT", 45)
time.sleep(1)
motion.turn("LEFT", 20)
time.sleep(1)
### 점 1,2인 경우엔 walk해서 점 3까지 !
if point==1: # 점 1
motion.walk("FORWARD6")
time.sleep(7)
# 추후에 이연이 모션 40cm짜리로 바꿀예정
elif point==2: # 점 2
motion.walk("FORWARD3")
time.sleep(4)
# 추후에 이연이 모션 20cm짜리로 바꿀예정
else : # 점 3
pass
time.sleep(2)
print("start walk_side 15")
motion.walk_side("LEFT120cm") #
time.sleep(18)
motion.turn("LEFT", 90)
time.sleep(4)
motion.turn("LEFT", 10)
time.sleep(0.5)
self.act = Act.SECSHOT
#=======================================================#
# 3. SECSHOT (두번째 티샷) #
#=======================================================#
elif act == Act.SECSHOT: ##### 1. 시작 및 티샷 #################
print("ACT: ", act) # Debug
print("^^두번째 티샷^^")
motion.head("UP", 9)
time.sleep(1)
motion.head("UP", 9)
# 지금 각도 45도임
# 공 찾고 중앙 맞추기
is_ball = robo._image_processor.detect_ball()
#### False면, big UD LR 해라
if is_ball == False:
motion.head("DEFAULT", 1)
time.sleep(1)
while True:
# big UD head
is_big_UD = big_UD("ball")
time.sleep(0.5)
print("controller === big ud ")
if is_big_UD == "Except" : # big UD 검출안됨 -> big LR 로 넘어감
motion.head("UP", 6)
is_big_LR = big_LR("ball") # big은 알아서 고개 디폴트 함
if is_big_LR == "Except":
motion.walk("BACKWARD")
time.sleep(3)
motion.head("DEFAULT",0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
Distance.head_lr_angle = 100
time.sleep(1)
continue
is_small_LR = ball_small_LR("ball")
if is_small_LR == "Except" :
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(1)
continue
else:
break
else:
ball_small_LR("ball") # small lr 함으로써 중앙 맞춰짐
## 이제 남은 거리만큼 공까지 걷기
# ud_for_dist 하기전에 고개 세팅
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(1)
print("ball detected")
UD_for_dist("ball")
motion.head("DEFAULT", 1) # ud for dist 이후 고개 상하 디폴트
time.sleep(2)
# length = 거리
ball_dist = Distance.Length_ServoAngle_dict.get(Distance.Head_ud_angle)
print("ball distance :", ball_dist)
# 남은 거리 만큼 걷기
if ball_dist > 18:
motion.walk("FORWARD", ball_dist - 18)
time.sleep(1)
elif ball_dist == 18:
print("correct!")
else : # 최소 거리 18보다 더 가까이 있을 경우: 뒷걸음질
motion.walk("BACKWARD", ball_dist - 18)
time.sleep(2)
time.sleep(1)
ball_pos('pr')
time.sleep(1)
Set_holecup_right()
ball_pos('pr')
time.sleep(1)
### 진짜 두번째 TEESHOT
motion.putting("PAR4", 2)
time.sleep(5)
#######
#return True
#######
motion.walk("FORWARD3")
time.sleep(8)
motion.turn("RIGHT", 10)
time.sleep(1)
motion.walk_side("RIGHT120cm")
time.sleep(18)
motion.walk_side("RIGHT70")
time.sleep(5)
motion.turn("RIGHT", 90)
time.sleep(4)
self.act = Act.WALK_BALL
# return True
#=======================================================#
# 2. Walk #
#=======================================================#
elif act == Act.WALK_BALL:
##### 2. 공을 향해 걸어간다 #################
print("^^^^222222")
print("^^^^222222")
print("^^^^222222")
print("^^^^222222")
motion.head("UP", 9)
time.sleep(1)
motion.head("UP", 9)
# 지금 각도 45도임
is_ball = robo._image_processor.detect_ball()
#### False면, big UD LR 해라
if is_ball == False:
motion.head("DEFAULT", 1)
time.sleep(1)
while True:
# big UD head
is_big_UD = big_UD("ball")
time.sleep(0.5)
print("controller === big ud ")
if is_big_UD == "Except" : # big UD 검출안됨 -> big LR 로 넘어감
motion.head("UP", 6)
is_big_LR = big_LR("ball") # big은 알아서 고개 디폴트 함
if is_big_LR == "Except":
motion.walk("BACKWARD")
time.sleep(3)
motion.head("DEFAULT",0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
Distance.head_lr_angle = 100
time.sleep(1)
continue
is_small_LR = ball_small_LR("ball")
if is_small_LR == "Except" :
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(1)
continue
else:
break
else:
ball_small_LR("ball") # small lr 함으로써 중앙 맞춰짐
# ud_for_dist 하기전에 고개 세팅
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(2)
print("ball detected")
UD_for_dist("ball")
motion.head("DEFAULT", 1) # ud for dist 이후 고개 상하 디폴트
time.sleep(1)
# length = 거리
ball_dist = Distance.Length_ServoAngle_dict.get(Distance.Head_ud_angle)
print("ball distance :", ball_dist)
# 무지성 10번 걸은 후, 남은 거리 측정 후 걷기
if ball_dist > 26: # 18+8 (화면에 여유있게 들어오도록)
motion.walk("FORWARD", ball_dist - 26)
elif ball_dist == 26:
print("correct!")
else : # 최소 거리 18보다 더 가까이 있을 경우: 뒷걸음질
motion.walk("BACKWARD", ball_dist - 26)
time.sleep(1)
#---------------------ball dist one more time
'''
# 거리 한 번 더 재는거 뺌
motion.head("DOWN", 45) # 고개 45도로 내리고 공 detect 시작 !
time.sleep(2)
is_ball = robo._image_processor.detect_ball()
### False면, big UD LR 해라
if is_ball == False:
motion.head("DEFAULT", 1)
time.sleep(1)
while True:
# big UD head
is_big_UD = big_UD("ball")
print("controller === big ud ")
if is_big_UD == "Except" : # big UD 검출안됨 -> big LR 로 넘어감
big_LR("ball") # big은 알아서 고개 디폴트 함
is_small_LR = ball_small_LR("ball")
if is_small_LR == "Except" :
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(1)
continue
else:
break
else:
ball_small_LR("ball") # small lr 함으로써 중앙 맞춰짐
# ud_for_dist 하기전에 고개 세팅
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(2)
UD_for_dist("ball")
motion.head("DEFAULT", 1) # ud for dist 이후 고개 상하 디폴트
time.sleep(2)
# length = 거리
ball_dist = Distance.Length_ServoAngle_dict.get(Distance.Head_ud_angle)
print("ball distance :", ball_dist)
if ball_dist > 26: # 18+8 (화면에 여유있게 들어오도록)
motion.walk("FORWARD", ball_dist - 26)
elif ball_dist == 26:
print("correct!")
else : # 최소 거리 18보다 더 가까이 있을 경우: 뒷걸음질
motion.walk("BACKWARD", ball_dist - 26)'''
self.act = Act.PUTTING_POS
#return True
#=======================================================#
# 3. Putting Pos #
#=======================================================#
elif act == Act.PUTTING_POS: ##### 3. 퍼팅 위치에 서기 #################
###### 홀컵 중앙 맞추기 #######################
print("^^^^333333")
print("^^^^333333")
print("^^^^333333")
print("^^^^333333")
time.sleep(1)
motion.head("DOWN", 45) # 고개 45도로 내리고 공 detect 시작 !
time.sleep(1)
Distance.Head_UD_Angle = 55
is_holecup_in_frame = robo._image_processor.detect_holecup()
if is_holecup_in_frame == False:
motion.head("DEFAULT", 1) # 고개 상하 디폴트
print("holecup NONONONONONO")
# big UD head
while True:
is_big_UD = big_UD("holecup")
if is_big_UD == "Except" : # big UD 검출안됨 -> big LR 로 넘어감
print("holecup big UD except")
big_LR("holecup")
is_small_LR = small_LR("holecup")
print("small lr finished")
if is_small_LR == "Except" :
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(1)
continue
else:
break
motion.head("DEFAULT", 2) # after small lr, occur error, so add default 2
'''
#====== holecup 고개 방향만큼 꽃게 걸음 ======#
side_walk = int(abs(100-Distance.head_lr_angle)//10) # 식은 시행착오거치면서 변경예정
print("**꽃게 걸음 시작**")
# side walk 방향 설정
if Distance.head_lr_angle < 100:
# 고개가 왼쪽L이면 오른쪽R으로 side walk해라
print("꽃게 걸음 오른쪽")
side_lr = "RIGHT"
elif Distance.head_lr_angle > 100 :
# 고개가 오른쪽R이면 왼쪽L으로 side walk해라
print("꽃게 걸음 왼쪽")
side_lr = "LEFT"
print("side walk -------", side_walk)
# motion.py에 walk_side for문이 없어서 임시로 여기다 넣음
for _ in range(side_walk):
motion.walk_side(side_lr)
motion.head("DEFAULT", 2) # LR 한 후 고개 디폴트
print("holecup YES")
###### 홀컵 찾음, 중앙 맞췄음. 일직선 맞추고, 이제 거리 재야됨
'''
while True:
# 공 홀컵 일직선 맞추기
print("!!call straight ")
check_straight = head.straight()
if check_straight == True: # 거리 알고리즘으로 넘어감
print("straight true!!")
break
elif check_straight == "Except":
print("straight except")
while True:
motion.head("DEFAULT", 1)
Distance.Head_ud_angle = 100
# 매번 고개 디폴트했다가 54도로 갔다가 하는 거
is_big_UD = big_UD("ball")
if is_big_UD == "Except":
robo._motion.head("UP", 9)
is_big_LR = big_LR("ball") # big은 알아서 고개 디폴트 함
if is_big_LR == "Except":
motion.walk("BACKWARD")
time.sleep(3)
motion.head("DEFAULT",0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
Distance.head_lr_angle = 100
time.sleep(1)
continue
is_small_LR = ball_small_LR("ball")
if is_small_LR == "Except" :
time.sleep(1)
motion.head("DEFAULT", 0)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
time.sleep(1)
continue
else:
break
else:
continue
motion.pose("LEFT")
time.sleep(3)
self.act = Act.PUTTING
# 공 거리는 Act 4(PUTTING)에서 재기
#return True
#=======================================================#
# 4. Putting #
#=======================================================#
elif act == Act.PUTTING: ##### 4. 퍼팅 #################
print("^^^^444444")
print("^^^^444444")
print("^^^^444444")
print("^^^^444444")
'''
# ud_for_dist 하기전에 고개 세팅
motion.head("DEFAULT", 2) # 고개 디폴트
time.sleep(1)
Distance.Head_ud_angle = Distance.Head_UD_Middle_Value_Measures
motion.head("DEFAULT", 1) # 고개 디폴트
time.sleep(1)
UD_for_dist("ball") # 공 거리 재기
motion.head("DEFAULT", 1) # ud for dist 이후 고개 상하 디폴트
time.sleep(2)
# length = 거리
ball_dist = Distance.Length_ServoAngle_dict.get(Distance.Head_ud_angle)
print(Distance.Length_ServoAngle_dict)
print("=====================================")
print("balL dist:" , ball_dist , " head ud angle:", Distance.Head_ud_angle)
print("=====================================")