diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 48bd351401a0309102cb5c9342ec1d0ce1f4bf95..362b793d307f1d92a2aaeeb533e99ce9f18644fb 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -2,6 +2,7 @@
<variables>
<variable id="DfDz@$]?^P=(6r:%^xC*">v</variable>
<variable id="l9lR0!)Laya}3RYVW(ZQ">ticks</variable>
+ <variable id="ymkMx:g,wGvcvRtYUanL">shot</variable>
<variable id="L([~[g+MhSG}}P1bZ{oS">factor_x</variable>
<variable id="v3eHF0atAL+ouaa{W$=m">ts_ball</variable>
<variable id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</variable>
@@ -423,7 +424,14 @@
</value>
<statement name="DO0">
<block type="procedures_callnoreturn" id="90_K~]2igif9F@eo$.5Z">
- <mutation name="stepBall"/>
+ <mutation name="stepBall">
+ <arg name="shot"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="logic_boolean" id="_$3,;B)-(K-03ZzRYj!5">
+ <field name="BOOL">TRUE</field>
+ </block>
+ </value>
</block>
</statement>
<value name="IF1">
@@ -550,7 +558,7 @@
</value>
<value name="ARG1">
<block type="math_number" id="gcH1Ps(J*{a)=3pi9diY">
- <field name="NUM">20</field>
+ <field name="NUM">10</field>
</block>
</value>
</block>
@@ -609,7 +617,7 @@
</value>
<value name="ARG1">
<block type="math_number" id=")k]SdR3F1bII`Mo!4Q2T">
- <field name="NUM">20</field>
+ <field name="NUM">10</field>
</block>
</value>
</block>
@@ -626,7 +634,14 @@
</value>
<next>
<block type="procedures_callnoreturn" id=")f0^YOdfvadl{9t=j|w1">
- <mutation name="stepBall"/>
+ <mutation name="stepBall">
+ <arg name="shot"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="logic_boolean" id="oi!78vnT!+MpPB1n]qMf">
+ <field name="BOOL">FALSE</field>
+ </block>
+ </value>
</block>
</next>
</block>
@@ -1246,8 +1261,12 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="4183">
+ <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="4239">
+ <mutation>
+ <arg name="shot" varid="ymkMx:g,wGvcvRtYUanL" argid=":62/?4I]sXmWy2!AnMxj"/>
+ </mutation>
<field name="NAME">stepBall</field>
+ <field name=":62/?4I]sXmWy2!AnMxj">shot</field>
<statement name="STACK">
<block type="variables_set" id=".tHpZ}-+@nb7zjqP7C^#">
<field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
@@ -1404,7 +1423,7 @@
</value>
<statement name="DO2">
<block type="controls_if" id="Bp.|BTULdy(,]aAoN,l[">
- <mutation elseif="3" else="1"/>
+ <mutation elseif="4" else="1"/>
<value name="IF0">
<block type="logic_compare" id="Y-Fctm`Flpx7MN)@x%-u">
<field name="OP">LTE</field>
@@ -1492,6 +1511,29 @@
</block>
</statement>
<value name="IF2">
+ <block type="variables_get" id="gKGYl8yua]Rj4F#na608">
+ <field name="VAR" id="ymkMx:g,wGvcvRtYUanL">shot</field>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="procedures_callnoreturn" id="e#(2U7V=y-AnQZE@~9Ze">
+ <mutation name="fwd">
+ <arg name="v"/>
+ <arg name="ticks"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="variables_get" id="kAGg.QR}9+5$8#CK+(kM">
+ <field name="VAR" id=")rK_fR,m=]b(j[{.CtBj">v_slow</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="x)bJS0]ZqGDYoez,1r^(">
+ <field name="NUM">5</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ <value name="IF3">
<block type="logic_operation" id=":2kiZ:)l/(drayLhwske" inline="false">
<field name="OP">AND</field>
<value name="A">
@@ -1526,7 +1568,7 @@
</value>
</block>
</value>
- <statement name="DO2">
+ <statement name="DO3">
<block type="procedures_callnoreturn" id="5?xr%Un4{ZZP/*kbTrS4">
<mutation name="turnSideLeft">
<arg name="v"/>
@@ -1544,7 +1586,7 @@
</value>
</block>
</statement>
- <value name="IF3">
+ <value name="IF4">
<block type="logic_compare" id="O3!qDGS(I#FcP9l5t9T!">
<field name="OP">LTE</field>
<value name="A">
@@ -1559,7 +1601,7 @@
</value>
</block>
</value>
- <statement name="DO3">
+ <statement name="DO4">
<block type="procedures_callnoreturn" id="iE.eGjQ64)ne8c#zdVbM">
<mutation name="bwd">
<arg name="v"/>
@@ -1584,7 +1626,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5278">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5478">
<field name="NAME">checkTimeoutsSetGoalBoth</field>
<statement name="STACK">
<block type="controls_if" id="63FfwOqK(iF!2~DVc~`p">
@@ -1807,7 +1849,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="5943">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6143">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2008,7 +2050,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6610">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6810">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2089,7 +2131,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="6941">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7141">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2170,7 +2212,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7272">
+ <block type="counter_event" id="T^aHOKaV|bU#ZeZfn[GJ" x="0" y="7472">
<value name="condition">
<shadow type="counter_if_value" id="9`P*eh,|:Wnytp?G[|;{">
<field name="instance_name">TXT_M_C1_motor_step_counter</field>
@@ -2218,7 +2260,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7419">
+ <block type="counter_event" id="7wA~J+BkZ5~nV6aI|fLZ" x="0" y="7619">
<value name="condition">
<shadow type="counter_if_value" id="RDF|2PoXWvG^_k{FB37U">
<field name="instance_name">TXT_M_C2_motor_step_counter</field>
@@ -2266,7 +2308,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="7566">
+ <block type="counter_event" id="Nv;e.HwUkTK/=(qEs~82" x="0" y="7766">
<value name="condition">
<shadow type="counter_if_value" id="05ihu;VYh*tmqA78pJQL">
<field name="instance_name">TXT_M_C3_motor_step_counter</field>
@@ -2314,7 +2356,7 @@
</block>
</statement>
</block>
- <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="7713">
+ <block type="counter_event" id="j|Pz^uHewb7]si9}3az3" x="0" y="7913">
<value name="condition">
<shadow type="counter_if_value" id="N9]b*Kn_Nxk}[I9e!^Z.">
<field name="instance_name">TXT_M_C4_motor_step_counter</field>
@@ -2362,7 +2404,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="7860">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="8060">
<value name="condition">
<block type="input_photo_transistor_if_state" id="dX]-jf`=2/tNnEnHfKvx">
<field name="instance_name">TXT_M_I8_photo_transistor</field>
@@ -2385,7 +2427,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="7997">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="8197">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
@@ -2421,7 +2463,7 @@
</value>
<value name="distance">
<shadow type="math_number" id="!vn0#[@_$kjeevcKcnqF">
- <field name="NUM">100</field>
+ <field name="NUM">50</field>
</shadow>
</value>
<next>
@@ -2465,7 +2507,7 @@
</value>
<value name="distance">
<shadow type="math_number" id="vv:iZ6tXN]M@jx0UY]0T">
- <field name="NUM">40</field>
+ <field name="NUM">20</field>
</shadow>
</value>
<next>
@@ -2497,7 +2539,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="8554">
+ <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="8754">
<field name="NAME">soundGoal</field>
<statement name="STACK">
<block type="variables_set" id="o^c1yss2pIv%8YmX`=6X">
@@ -2538,7 +2580,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="8748">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="8948">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="-fFb#6a:h}yA(|L+pf*l"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="h?@dWX*~x|BDzo:O{is["/>
@@ -2635,7 +2677,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="9161">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="9361">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="k6At@e}Qga_x|SmVlf6C"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="~VyZflQ+9HCPP`ynQ/=Y"/>
@@ -2732,7 +2774,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="9574">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="9774">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="K)Z,8|d5@gck+Q]pnW01"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="(Id`t]O(jxfZJay}20X{"/>
@@ -2808,7 +2850,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="9959">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="10159">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -2884,7 +2926,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10344">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10544">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -2975,7 +3017,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="10785">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="10985">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="8Z2n_ZVA.)85]V7j%3;7"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="J(gJ~*9ZJJa,[V1)[xn#"/>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index 2a153047a2d3b246f5983b7299532968036bd3c8..7058bb4dc7ac3f22656f7f77506a6081935bfb7a 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -9,6 +9,7 @@ from fischertechnik.controller.Motor import Motor
v = None
ticks = None
+shot = None
factor_x = None
ts_ball = None
ts_goal_left = None
@@ -36,7 +37,7 @@ y_ball_touch = None
y_ball_near = None
search_dir_left = None
def checkTimeoutsSetGoalBoth():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
if posx_goal_left != None and posx_goal_right != None:
goal_width = posx_goal_right - posx_goal_left
posx_goal_both = posx_goal_left + goal_width / 2
@@ -52,7 +53,7 @@ def checkTimeoutsSetGoalBoth():
-def stepBall():
+def stepBall(shot):
global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
state = 'stepBall'
if posx_ball < x_min:
@@ -64,6 +65,8 @@ def stepBall():
fwd(v_fast, 10)
elif posy_ball > y_ball_far and posy_ball <= y_ball_near:
fwd(v_slow, 5)
+ elif shot:
+ fwd(v_slow, 5)
elif posy_ball > y_ball_near and posy_ball <= y_ball_touch:
turnSideLeft(v_fast, 20)
elif posy_ball <= y_ball_touch:
@@ -73,7 +76,7 @@ def stepBall():
def ball_callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
ts_ball = (time.time() * 1000)
posx_ball = event.value.x
posy_ball = event.value.y
@@ -86,7 +89,7 @@ ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
ts_goal_left = (time.time() * 1000)
posx_goal_left = event.value.x
posy_goal_left = event.value.y
@@ -97,7 +100,7 @@ ball_detector_goal_left.add_detection_listener(ball_callback2)
def ball_callback23(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
ts_goal_right = (time.time() * 1000)
posx_goal_right = event.value.x
posy_goal_right = event.value.y
@@ -108,7 +111,7 @@ ball_detector_goal_right.add_detection_listener(ball_callback23)
def callback(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
if TXT_M_C1_motor_step_counter.get_count() >= 0:
counters[0] = TXT_M_C1_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -118,7 +121,7 @@ TXT_M_C1_motor_step_counter.add_change_listener("count", callback)
def callback2(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
if TXT_M_C2_motor_step_counter.get_count() >= 0:
counters[1] = TXT_M_C2_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -128,7 +131,7 @@ TXT_M_C2_motor_step_counter.add_change_listener("count", callback2)
def callback3(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
if TXT_M_C3_motor_step_counter.get_count() >= 0:
counters[2] = TXT_M_C3_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -138,7 +141,7 @@ TXT_M_C3_motor_step_counter.add_change_listener("count", callback3)
def callback4(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
if TXT_M_C4_motor_step_counter.get_count() >= 0:
counters[3] = TXT_M_C4_motor_step_counter.get_count()
display.set_attr("txt_label_counters.text", str(counters))
@@ -148,7 +151,7 @@ TXT_M_C4_motor_step_counter.add_change_listener("count", callback4)
def callback5(event):
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
@@ -158,14 +161,14 @@ TXT_M_I8_photo_transistor.add_change_listener("dark", callback5)
def shotBall():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'shotBall'
TXT_M_S1_servomotor.set_position(int(400))
TXT_M_M1_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M2_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M3_encodermotor.set_speed(int(512), Motor.CCW)
TXT_M_M4_encodermotor.set_speed(int(512), Motor.CCW)
- TXT_M_M1_encodermotor.set_distance(int(100), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+ TXT_M_M1_encodermotor.set_distance(int(50), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
time.sleep(0.05)
TXT_M_S1_servomotor.set_position(int(256))
while True:
@@ -176,7 +179,7 @@ def shotBall():
TXT_M_M2_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M3_encodermotor.set_speed(int(512), Motor.CW)
TXT_M_M4_encodermotor.set_speed(int(512), Motor.CW)
- TXT_M_M1_encodermotor.set_distance(int(40), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
+ TXT_M_M1_encodermotor.set_distance(int(20), TXT_M_M2_encodermotor, TXT_M_M3_encodermotor, TXT_M_M4_encodermotor)
while True:
if (not TXT_M_M1_encodermotor.is_running()):
break
@@ -185,7 +188,7 @@ def shotBall():
def soundGoal():
- global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global v, ticks, shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'soundGOAL'
TXT_M.get_loudspeaker().play("26_Augenzwinkern.wav", False)
display.set_attr("txt_switch_active.checked", str(False).lower())
@@ -196,7 +199,7 @@ def soundGoal():
def turnSideLeft(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'turnSideLeft'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
@@ -212,7 +215,7 @@ def turnSideLeft(v, ticks):
def turnSideRight(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'turnSideRight'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
@@ -228,7 +231,7 @@ def turnSideRight(v, ticks):
def fwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'fwd'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -243,7 +246,7 @@ def fwd(v, ticks):
def bwd(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'bwd'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -258,7 +261,7 @@ def bwd(v, ticks):
def left(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'left ({}, {})'.format(v, ticks)
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -273,7 +276,7 @@ def left(v, ticks):
def right(v, ticks):
- global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
+ global shot, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, state, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, counters, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_var_ball_xpos, v_slow, y_ball_far, v_var_ball_ypos, v_fast, y_ball_touch, y_ball_near, search_dir_left
cmd = 'right ({}, {})'.format(v, ticks)
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -323,20 +326,20 @@ while True:
soundGoal()
else:
if posx_ball > posx_goal_left and posx_ball < posx_goal_right:
- stepBall()
+ stepBall(True)
elif posx_ball < posx_goal_both:
turnSideLeft(v_slow, 20)
elif posx_ball > posx_goal_both:
turnSideRight(v_slow, 20)
elif posx_goal_left != None and posx_goal_right == None:
state = 'BALL_GOAL_LEFT'
- turnSideLeft(v_slow, 20)
+ turnSideLeft(v_slow, 10)
elif posx_goal_left == None and posx_goal_right != None:
state = 'BALL_GOAL_RIGHT'
- turnSideRight(v_slow, 20)
+ turnSideRight(v_slow, 10)
else:
state = 'BALL_NO_GOAL'
- stepBall()
+ stepBall(False)
else:
if posx_goal_left != None and posx_goal_right != None:
state = 'NO_BALL_GOAL_BOTH'