diff --git a/lib/camera.py b/lib/camera.py
index 43e038cfc2ac6e0d1da1c1d2e5e17cbbb1f154f5..397eb0dec0fbe164fb438d3d890999eb995ae72e 100644
--- a/lib/camera.py
+++ b/lib/camera.py
@@ -8,7 +8,7 @@ TXT_M_USB_1_camera.set_width(320)
TXT_M_USB_1_camera.set_fps(15)
TXT_M_USB_1_camera.start()
-ball_detector = txt_factory.camera_factory.create_ball_detector(0, 0, 320, 240, 5, 80, -100, 100, [200,113,52], 20)
+ball_detector = txt_factory.camera_factory.create_ball_detector(0, 0, 320, 240, 5, 80, -100, 100, [223,151,123], 20)
TXT_M_USB_1_camera.add_detector(ball_detector)
blocked_area_right = txt_factory.camera_factory.create_blocked_area(240, 190, 80, 50)
@@ -20,6 +20,6 @@ TXT_M_USB_1_camera.add_blocked_area(blocked_area_left)
ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [183,137,26], 20)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_right)
-ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [57,117,47], 20)
+ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [109,152,108], 20)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_left)
diff --git a/lib/camera.xml b/lib/camera.xml
index 7d01b6909a65664fcb386d9d235cb04a6514dedd..beff0a7931c664e0bbdd606075a4d0823eaf03c1 100644
--- a/lib/camera.xml
+++ b/lib/camera.xml
@@ -1 +1 @@
-<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#c87134</color><tolerance>20</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#b7891a</color><tolerance>20</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#39752f</color><tolerance>20</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
+<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#df977b</color><tolerance>20</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#b7891a</color><tolerance>20</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#6d986c</color><tolerance>20</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
diff --git a/lib/display.qml b/lib/display.qml
index 477ad3f11e5a5a3f18846aaa289724796c897a01..7b6c451feca2bf20aaf82360abd99fb1869ae04f 100644
--- a/lib/display.qml
+++ b/lib/display.qml
@@ -12,14 +12,14 @@ TXTWindow {
anchors.fill: parent
}
TXTSwitch {
- id: txt_switch_active
- text: "START"
+ id: txt_switch_ball
+ text: ""
font.pixelSize: 16
enabled: true
- checked: true
- x: 60
- y: 178
- width: 100
+ checked: false
+ x: 170
+ y: 10
+ width: 60
height: 40
}
TXTLabel {
@@ -27,49 +27,77 @@ TXTWindow {
text: "-"
font.pixelSize: 16
elide: Text.ElideRight
- x: 60
- y: 20
- width: 179
+ x: 50
+ y: 10
+ width: 120
height: 40
}
TXTLabel {
- id: txt_label_goal
+ id: txt_label_goal_left
text: "-"
font.pixelSize: 16
elide: Text.ElideRight
- x: 60
- y: 80
- width: 180
+ x: 50
+ y: 70
+ width: 120
height: 40
}
TXTLabel {
- id: txt_label_ball_
- text: "ball"
+ id: txt_label_goal_right
+ text: "-"
font.pixelSize: 16
elide: Text.ElideRight
+ x: 50
+ y: 110
+ width: 120
+ height: 40
+ }
+ StatusIndicator {
+ id: txt_status_indicator_ball
+ color: "#FFB700"
+ active: false
x: 20
y: 20
- width: 40
- height: 40
+ width: 20
+ height: 20
}
- TXTLabel {
- id: txt_label_goal_
- text: "goal"
- font.pixelSize: 16
- elide: Text.ElideRight
+ StatusIndicator {
+ id: txt_status_indicator_goal_left
+ color: "#19FF00"
+ active: false
x: 20
y: 80
- width: 40
+ width: 20
+ height: 20
+ }
+ StatusIndicator {
+ id: txt_status_indicator_goal_right
+ color: "#F8FF00"
+ active: false
+ x: 20
+ y: 120
+ width: 20
+ height: 20
+ }
+ TXTSwitch {
+ id: txt_switch_goal
+ text: ""
+ font.pixelSize: 16
+ enabled: true
+ checked: false
+ x: 170
+ y: 150
+ width: 60
height: 40
}
TXTLabel {
- id: txt_label_goal_x
+ id: txt_label_goal_both
text: "-"
font.pixelSize: 16
elide: Text.ElideRight
- x: 60
- y: 120
- width: 180
+ x: 50
+ y: 150
+ width: 120
height: 40
}
}
diff --git a/lib/display.xml b/lib/display.xml
index 503a00da799e0faf73aa49e84651de3f0e989b20..d8eb86d35322b0c7efa0102ddea90095a951d0ab 100644
--- a/lib/display.xml
+++ b/lib/display.xml
@@ -1 +1 @@
-<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_active</name><enabled>true</enabled><checked>true</checked><text>START</text><geometry><x>60</x><y>178</y><width>100</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>60</x><y>20</y><width>179</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal</name><text>-</text><geometry><x>60</x><y>80</y><width>180</width><height>40</height></geometry></item><item id="7" class="TXTLabel"><name>txt_label_ball_</name><text>ball</text><geometry><x>20</x><y>20</y><width>40</width><height>40</height></geometry></item><item id="8" class="TXTLabel"><name>txt_label_goal_</name><text>goal</text><geometry><x>20</x><y>80</y><width>40</width><height>40</height></geometry></item><item id="10" class="TXTLabel"><name>txt_label_goal_x</name><text>-</text><geometry><x>60</x><y>120</y><width>180</width><height>40</height></geometry></item></xml>
\ No newline at end of file
+<xml type="display" version="2"><item id="4" class="TXTSwitch"><name>txt_switch_ball</name><enabled>true</enabled><checked>false</checked><text/><geometry><x>170</x><y>10</y><width>60</width><height>40</height></geometry></item><item id="5" class="TXTLabel"><name>txt_label_ball</name><text>-</text><geometry><x>50</x><y>10</y><width>120</width><height>40</height></geometry></item><item id="6" class="TXTLabel"><name>txt_label_goal_left</name><text>-</text><geometry><x>50</x><y>70</y><width>120</width><height>40</height></geometry></item><item id="10" class="TXTLabel"><name>txt_label_goal_right</name><text>-</text><geometry><x>50</x><y>110</y><width>120</width><height>40</height></geometry></item><item id="11" class="StatusIndicator"><name>txt_status_indicator_ball</name><color>#FFB700</color><active>false</active><geometry><x>20</x><y>20</y><width>20</width><height>20</height></geometry></item><item id="12" class="StatusIndicator"><name>txt_status_indicator_goal_left</name><color>#19FF00</color><active>false</active><geometry><x>20</x><y>80</y><width>20</width><height>20</height></geometry></item><item id="13" class="StatusIndicator"><name>txt_status_indicator_goal_right</name><color>#F8FF00</color><active>false</active><geometry><x>20</x><y>120</y><width>20</width><height>20</height></geometry></item><item id="14" class="TXTSwitch"><name>txt_switch_goal</name><enabled>true</enabled><checked>false</checked><text/><geometry><x>170</x><y>150</y><width>60</width><height>40</height></geometry></item><item id="15" class="TXTLabel"><name>txt_label_goal_both</name><text>-</text><geometry><x>50</x><y>150</y><width>120</width><height>40</height></geometry></item></xml>
\ No newline at end of file
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 0171ba07333129f8bb680f1c1f43559860ddc2e6..a0bccfcbb0cb6a4fbc47e6fd5a9c226f15305c1d 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -1,14 +1,14 @@
<xml xmlns="https://developers.google.com/blockly/xml" version="12">
<variables>
+ <variable id="ymkMx:g,wGvcvRtYUanL">shot</variable>
<variable id="DfDz@$]?^P=(6r:%^xC*">v</variable>
<variable id="l9lR0!)Laya}3RYVW(ZQ">ticks</variable>
- <variable id="ymkMx:g,wGvcvRtYUanL">shot</variable>
<variable id="L([~[g+MhSG}}P1bZ{oS">factor_x</variable>
+ <variable id="vH;^OzJY7dOdepMScU1s">state</variable>
<variable id="v3eHF0atAL+ouaa{W$=m">ts_ball</variable>
<variable id=";Ki:[qYaZnowqSa`]/aW">ts_goal_left</variable>
<variable id="z^z{Ev+IMfS6[W1raY;l">ts_goal_right</variable>
<variable id="fPH`.@]riH+=v{,A)bP5">cmd</variable>
- <variable id="vH;^OzJY7dOdepMScU1s">state</variable>
<variable id="S~)Q:X5BHfQZe.ZJfdE)">factor_y</variable>
<variable id="v0BvP7[91TGaMpQG$r0f">goal_width</variable>
<variable id="S4.mduNQC(va3iR{oSdB">posx_ball</variable>
@@ -20,12 +20,12 @@
<variable id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</variable>
<variable id="+j/X+RCIMajR28(u#7DG">posy_goal_right</variable>
<variable id="2G]XEQ3Lhl$dG]=:]8Ge">x_max</variable>
- <variable id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</variable>
<variable id=")rK_fR,m=]b(j[{.CtBj">v_slow</variable>
+ <variable id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</variable>
<variable id="}*jl@)UA_Hjh5rc,Gt)c">y_ball_far</variable>
- <variable id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</variable>
<variable id="1idj3sw*{G$j`2:II{^5">v_fast</variable>
<variable id="xjf5O*w9;IZf$n55ytVF">y_ball_touch</variable>
+ <variable id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</variable>
<variable id="09n]XF2CKURQs)nHOfam">y_ball_near</variable>
<variable id="2Lkg^#Z.uZy(%Nr[26)6">search_dir_left</variable>
</variables>
@@ -232,7 +232,7 @@
<block type="controls_if" id="LIzedxH5dle@WM!lcbM#">
<value name="IF0">
<block type="display_get_switch_state" id="/xkM7bR[)*BEY41xd)JA">
- <field name="instance_name">txt_switch_active</field>
+ <field name="instance_name">txt_switch_ball</field>
<field name="property_name">checked</field>
</block>
</value>
@@ -1003,179 +1003,260 @@
</block>
</statement>
<next>
- <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
- <field name="instance_name">txt_label_ball</field>
+ <block type="display_set_status_indicator_active" id="Ol/kdywTz9GJZec|QWMS">
+ <field name="instance_name">txt_status_indicator_ball</field>
<value name="value">
- <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
- <field name="TEXT">abc</field>
+ <shadow type="logic_boolean" id="C/tmfzzEp6H,:Q-Cbzm5">
+ <field name="BOOL">TRUE</field>
</shadow>
- <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
- <field name="TEXT">x:{}, y:{}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
+ <block type="logic_compare" id="A*?Wn/psphIs}+%SxVmh">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="s5*njiZc=^N+p)4eIr:g">
<field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="ADD1">
- <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
- <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="e!/:${Wq/7lIg8.F`rU:"/>
</value>
</block>
</value>
<next>
- <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
- <field name="instance_name">txt_label_goal</field>
+ <block type="display_set_status_indicator_active" id="6raPw1+,67bp]Ic#!]_h">
+ <field name="instance_name">txt_status_indicator_goal_left</field>
<value name="value">
- <shadow type="text">
- <field name="TEXT">abc</field>
+ <shadow type="logic_boolean">
+ <field name="BOOL">TRUE</field>
</shadow>
- <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
- <mutation items="4"/>
- <value name="value">
- <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
- <field name="TEXT">left:{} {}, right:{} {}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
+ <block type="logic_compare" id="(Gd1pOPhbD[]9blVQC|s">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="d)kKqkwH4O9u46e{zBnP">
<field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
</block>
</value>
- <value name="ADD1">
- <block type="variables_get" id="Fe?~n3W$cZh6_K]^Dsyx">
- <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
- </block>
- </value>
- <value name="ADD2">
- <block type="variables_get" id="^dcWdBa0xHuSF#~S44{U">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="ADD3">
- <block type="variables_get" id="kuo|)Aebqd#k+PebfFA^">
- <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="/s%hwOAf=LC]:$PjiZy?"/>
</value>
</block>
</value>
<next>
- <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
- <field name="instance_name">txt_label_goal_x</field>
+ <block type="display_set_status_indicator_active" id="^O{W3G$em_v6~A^t1K$]">
+ <field name="instance_name">txt_status_indicator_goal_right</field>
<value name="value">
- <shadow type="text" id="}wMC[[!{mYT9LBcx}EtT">
- <field name="TEXT">abc</field>
+ <shadow type="logic_boolean">
+ <field name="BOOL">TRUE</field>
</shadow>
- <block type="text_format" id="zV,[,3k$`H2B5D[4-c.d">
- <mutation items="2"/>
- <value name="value">
- <shadow type="text" id="pLr%-2L|$X9_^)k~m;J(">
- <field name="TEXT">p:{}, w:{}</field>
- </shadow>
- </value>
- <value name="ADD0">
- <block type="variables_get" id="1/;a8^BqFI^^?=Ea;HdL">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ <block type="logic_compare" id="2S2X?GGT8}tBgMGb3x=[">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="variables_get" id="4yKol;}{*yD|UJzvYN83">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
</block>
</value>
- <value name="ADD1">
- <block type="variables_get" id="CD]^^%xF/1z=fT)6mSMr">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- </block>
+ <value name="B">
+ <block type="logic_null" id="?MiF_jh!]il%Rhf3lN~~"/>
</value>
</block>
</value>
<next>
- <block type="text_print" id="##1hG%c^2!NKjN~e1lyg">
- <value name="TEXT">
- <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
- <field name="TEXT"/>
+ <block type="display_set_label_text" id="QDZ)v?E3iW-Liq4HKvUn">
+ <field name="instance_name">txt_label_ball</field>
+ <value name="value">
+ <shadow type="text" id="B`M|)AOBioxQGjue#9y^">
+ <field name="TEXT">abc</field>
</shadow>
- <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
- <mutation items="12"/>
+ <block type="text_format" id="bMzX7EzL+}J^dowK5pv|">
+ <mutation items="2"/>
<value name="value">
- <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
- <field name="TEXT">{}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ <shadow type="text" id="(C2/oN~6=q7Bw[A5`Pz)">
+ <field name="TEXT">x:{}, y:{}</field>
</shadow>
</value>
<value name="ADD0">
- <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
- <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
- </block>
- </value>
- <value name="ADD1">
- <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
- <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
- </block>
- </value>
- <value name="ADD2">
- <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
- <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
- </block>
- </value>
- <value name="ADD3">
- <block type="variables_get" id="kiYnqn=QqrO`bh^F{AQ#">
- <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
- </block>
- </value>
- <value name="ADD4">
- <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
- <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
- </block>
- </value>
- <value name="ADD5">
- <block type="variables_get" id=",3+x;7D(bN-41WySQn.v">
- <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
- </block>
- </value>
- <value name="ADD6">
- <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
- <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
- </block>
- </value>
- <value name="ADD7">
- <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
- <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
- </block>
- </value>
- <value name="ADD8">
- <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <block type="variables_get" id="N3bK$!XutDL@t?7tqOnB">
<field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
</block>
</value>
- <value name="ADD9">
- <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
+ <value name="ADD1">
+ <block type="variables_get" id="CIUI@k|{^~}vfJeTSYP2">
<field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
</block>
</value>
- <value name="ADD10">
- <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
- <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
- </block>
- </value>
- <value name="ADD11">
- <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
- <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
- </block>
- </value>
</block>
</value>
<next>
- <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
- <mutation name="checkTimeoutsSetGoalBoth"/>
+ <block type="display_set_label_text" id="2Ac72_SmdOYaC#|w[dk%">
+ <field name="instance_name">txt_label_goal_left</field>
+ <value name="value">
+ <shadow type="text">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="xXJlH+s%1,D1WcfOkt#6">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id=":(AhX7mg_fQeOGz*xR@g">
+ <field name="TEXT">{} {}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="ppSdz+]@cvkJ)r-5HdD^">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="Fe?~n3W$cZh6_K]^Dsyx">
+ <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
+ </block>
+ </value>
+ </block>
+ </value>
<next>
- <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
- <field name="format">ms</field>
+ <block type="display_set_label_text" id="a{S3p;wE$+yu^C@/gbFc">
+ <field name="instance_name">txt_label_goal_right</field>
<value name="value">
- <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
- <field name="NUM">80</field>
+ <shadow type="text">
+ <field name="TEXT">abc</field>
</shadow>
+ <block type="text_format" id="aM8~sP`fYChiSu}cXXcR">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="iEm4r;N9H6ZV_0W/huA7">
+ <field name="TEXT">{} {}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="86hRDB1XQ4so2N5SUnF_">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="%A3W)E/]zAMtqytEd%-*">
+ <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
+ </block>
+ </value>
+ </block>
</value>
+ <next>
+ <block type="display_set_label_text" id="Fn{?O{el^_@qD+)BLOev">
+ <field name="instance_name">txt_label_goal_both</field>
+ <value name="value">
+ <shadow type="text" id="}wMC[[!{mYT9LBcx}EtT">
+ <field name="TEXT">abc</field>
+ </shadow>
+ <block type="text_format" id="zV,[,3k$`H2B5D[4-c.d">
+ <mutation items="2"/>
+ <value name="value">
+ <shadow type="text" id="pLr%-2L|$X9_^)k~m;J(">
+ <field name="TEXT">p:{}, w:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="1/;a8^BqFI^^?=Ea;HdL">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="CD]^^%xF/1z=fT)6mSMr">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="text_print" id="##1hG%c^2!NKjN~e1lyg">
+ <value name="TEXT">
+ <shadow type="text" id="p_E`2=Fj^pN,D}gxPEvW">
+ <field name="TEXT"/>
+ </shadow>
+ <block type="text_format" id="mB*d7.SSna@S_Ds5Y4[o">
+ <mutation items="12"/>
+ <value name="value">
+ <shadow type="text" id="a{L7ErJR}=Flx|}3~+X4">
+ <field name="TEXT">{}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}</field>
+ </shadow>
+ </value>
+ <value name="ADD0">
+ <block type="variables_get" id="UGc[vu*b~9D^!p.3?7mo">
+ <field name="VAR" id="vH;^OzJY7dOdepMScU1s">state</field>
+ </block>
+ </value>
+ <value name="ADD1">
+ <block type="variables_get" id="wVt[k#I:X+:T`RVkRf]K">
+ <field name="VAR" id="fPH`.@]riH+=v{,A)bP5">cmd</field>
+ </block>
+ </value>
+ <value name="ADD2">
+ <block type="variables_get" id="+?O{K7(C)vw`Y6!T4L(o">
+ <field name="VAR" id="=2ARo+;2DS07SU~j29Fk">posx_goal_left</field>
+ </block>
+ </value>
+ <value name="ADD3">
+ <block type="variables_get" id="kiYnqn=QqrO`bh^F{AQ#">
+ <field name="VAR" id="a8;eFhj+gj?)7exUyU;p">posy_goal_left</field>
+ </block>
+ </value>
+ <value name="ADD4">
+ <block type="variables_get" id="/(B3zJewppd~EofXj-kV">
+ <field name="VAR" id="7Tp~7_.qfmJN0SR]5p}F">posx_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD5">
+ <block type="variables_get" id=",3+x;7D(bN-41WySQn.v">
+ <field name="VAR" id="+j/X+RCIMajR28(u#7DG">posy_goal_right</field>
+ </block>
+ </value>
+ <value name="ADD6">
+ <block type="variables_get" id="u$4~ei085+j]JF61p!Kz">
+ <field name="VAR" id="{]]L-TSC^#XtGnVinxf[">posx_goal_both</field>
+ </block>
+ </value>
+ <value name="ADD7">
+ <block type="variables_get" id="#umK_pdUK0;[tcAYO_7s">
+ <field name="VAR" id="v0BvP7[91TGaMpQG$r0f">goal_width</field>
+ </block>
+ </value>
+ <value name="ADD8">
+ <block type="variables_get" id="sPxj5C*ZzYUH*$WCe4|q">
+ <field name="VAR" id="S4.mduNQC(va3iR{oSdB">posx_ball</field>
+ </block>
+ </value>
+ <value name="ADD9">
+ <block type="variables_get" id="~vY0WPr#jWq#SxvDb1@n">
+ <field name="VAR" id="q#H`+Gwt~43Dh@fu;G-D">posy_ball</field>
+ </block>
+ </value>
+ <value name="ADD10">
+ <block type="variables_get" id="r!O8lsSDk:Xs*=-;)LRu">
+ <field name="VAR" id="O=Lc:FQ[]f3iuM/V@.mv">v_var_ball_xpos</field>
+ </block>
+ </value>
+ <value name="ADD11">
+ <block type="variables_get" id="`fG05b:bzq8[q?bquCg6">
+ <field name="VAR" id=";S3?%3)**s[[l~Aq3*,{">v_var_ball_ypos</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="procedures_callnoreturn" id="O6U,(~H4n-^0fP^x)_,{">
+ <mutation name="checkTimeoutsSetGoalBoth"/>
+ <next>
+ <block type="util_wait_for" id="U4XL;U0gG@tD~]*kp|L{">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="E9K@*OZ(Ftp5CGt}.9cT">
+ <field name="NUM">80</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1245,7 +1326,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="4119">
+ <block type="procedures_defnoreturn" id="BJV|hZc!#JXq:io7MmM`" x="0" y="4261">
<mutation>
<arg name="shot" varid="ymkMx:g,wGvcvRtYUanL" argid=":62/?4I]sXmWy2!AnMxj"/>
</mutation>
@@ -1610,7 +1691,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5358">
+ <block type="procedures_defnoreturn" id="N2EC5uK:$~0ERXAdK0!y" x="0" y="5500">
<field name="NAME">checkTimeoutsSetGoalBoth</field>
<statement name="STACK">
<block type="controls_if" id="fRY+n0,2r=7:t9`dVQYz">
@@ -1850,7 +1931,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6093">
+ <block type="camera_on_ball_detected" id="dgC*A|KHMC_R5S#ZRk}d" x="0" y="6235">
<field name="instance_name">ball_detector</field>
<statement name="statement">
<block type="variables_set" id="=2/,IQfcLO{_5PNd3UK~">
@@ -2051,7 +2132,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6760">
+ <block type="camera_on_ball_detected" id="Rg2Gt(0WT:J2|Us~[j.3" x="0" y="6902">
<field name="instance_name">ball_detector_goal_left</field>
<statement name="statement">
<block type="variables_set" id="kvK,D4e%04[?+!jq*Lch">
@@ -2132,7 +2213,7 @@
</block>
</statement>
</block>
- <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7091">
+ <block type="camera_on_ball_detected" id="(?slhGsN^:d1`vP{j9#|" x="0" y="7233">
<field name="instance_name">ball_detector_goal_right</field>
<statement name="statement">
<block type="variables_set" id="0!1?#@4|tcM8+U6E[$Tl">
@@ -2213,7 +2294,7 @@
</block>
</statement>
</block>
- <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="7422">
+ <block type="input_event" id="j(TuhJ0G}{^qGSq:26FY" x="0" y="7564">
<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>
@@ -2236,7 +2317,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="7559">
+ <block type="procedures_defnoreturn" id="RyK*td9aN5aR;@gw4f)+" x="0" y="7701">
<field name="NAME">shotBall</field>
<statement name="STACK">
<block type="variables_set" id="l,2u2WF|]I#%kDS#5O7-">
@@ -2348,7 +2429,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="8116">
+ <block type="procedures_defnoreturn" id="na=DVwj{P1Npv6z`ZSY{" x="0" y="8258">
<field name="NAME">soundGoal</field>
<statement name="STACK">
<block type="variables_set" id="o^c1yss2pIv%8YmX`=6X">
@@ -2364,7 +2445,7 @@
<field name="checkbox">FALSE</field>
<next>
<block type="display_set_switch_checked" id=")N/~DtYFy8cPbOpo-I50">
- <field name="instance_name">txt_switch_active</field>
+ <field name="instance_name">txt_switch_ball</field>
<field name="property_name">checked</field>
<value name="value">
<shadow type="logic_boolean" id="@Yk!SDjWfHi4@-ozuu_d">
@@ -2389,7 +2470,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="8310">
+ <block type="procedures_defnoreturn" id="UFM0X7|X:*ja#f+^7kz;" x="0" y="8452">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="-fFb#6a:h}yA(|L+pf*l"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="h?@dWX*~x|BDzo:O{is["/>
@@ -2486,7 +2567,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="8723">
+ <block type="procedures_defnoreturn" id="*i[s2YTWD*g9HS4dxkPq" x="0" y="8865">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="k6At@e}Qga_x|SmVlf6C"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="~VyZflQ+9HCPP`ynQ/=Y"/>
@@ -2583,7 +2664,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="9136">
+ <block type="procedures_defnoreturn" id="oSa9Ly*^-c^M{$gkMZt1" x="0" y="9278">
<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{"/>
@@ -2659,7 +2740,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="9521">
+ <block type="procedures_defnoreturn" id="G@]xamrhDPW$7uQ6oPo#" x="0" y="9663">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="_mFFsmoZwL{(llRvf-eW"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="aNHXtqe[T`=Y[mqp`ZDN"/>
@@ -2735,7 +2816,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="9906">
+ <block type="procedures_defnoreturn" id="5Hv=PFtVvPQA=IZrkJfU" x="0" y="10048">
<mutation>
<arg name="v" varid="DfDz@$]?^P=(6r:%^xC*" argid="~d8Z+AHZ!wz|G]JHW0lQ"/>
<arg name="ticks" varid="l9lR0!)Laya}3RYVW(ZQ" argid="jRMx@L,Ya|zd@/bBb#1T"/>
@@ -2826,7 +2907,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="10347">
+ <block type="procedures_defnoreturn" id="[S@[MO!Z/cNt:Jsg4dd}" x="0" y="10489">
<mutation>
<arg name="v" varid="DfDz@$]?^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 9f1bc42cd7974801606f74abbdbfdb18362d4d24..d482ef9c584b029bd6296edf452cc348215788f9 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -7,15 +7,15 @@ from lib.camera import *
from fischertechnik.controller.Motor import Motor
+shot = None
v = None
ticks = None
-shot = None
factor_x = None
+state = None
ts_ball = None
ts_goal_left = None
ts_goal_right = None
cmd = None
-state = None
factor_y = None
goal_width = None
posx_ball = None
@@ -27,16 +27,16 @@ posy_ball = None
posy_goal_left = None
posy_goal_right = None
x_max = None
-v_var_ball_xpos = None
v_slow = None
+v_var_ball_xpos = None
y_ball_far = None
-v_var_ball_ypos = None
v_fast = None
y_ball_touch = None
+v_var_ball_ypos = None
y_ball_near = None
search_dir_left = None
def checkTimeoutsSetGoalBoth():
- 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, 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, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, 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
@@ -56,7 +56,7 @@ def checkTimeoutsSetGoalBoth():
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, 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, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
state = 'stepBall'
if posx_ball < x_min:
left(v_slow, round(math.fabs(posx_ball) * 0.07))
@@ -78,7 +78,7 @@ def stepBall(shot):
def ball_callback(event):
- 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, 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, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
ts_ball = (time.time() * 1000)
posx_ball = event.value.x
posy_ball = event.value.y
@@ -91,7 +91,7 @@ ball_detector.add_detection_listener(ball_callback)
def ball_callback2(event):
- 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, 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, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
ts_goal_left = (time.time() * 1000)
posx_goal_left = event.value.x
posy_goal_left = event.value.y
@@ -102,7 +102,7 @@ ball_detector_goal_left.add_detection_listener(ball_callback2)
def ball_callback23(event):
- 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, 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, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
ts_goal_right = (time.time() * 1000)
posx_goal_right = event.value.x
posy_goal_right = event.value.y
@@ -113,7 +113,7 @@ ball_detector_goal_right.add_detection_listener(ball_callback23)
def callback(event):
- 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, 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, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
if TXT_M_I8_photo_transistor.is_dark():
shotBall()
time.sleep(5)
@@ -123,7 +123,7 @@ TXT_M_I8_photo_transistor.add_change_listener("dark", callback)
def shotBall():
- 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, 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, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, 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)
@@ -150,10 +150,10 @@ def shotBall():
def soundGoal():
- 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, 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, v, ticks, factor_x, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, 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())
+ display.set_attr("txt_switch_ball.checked", str(False).lower())
while True:
if (not (TXT_M.get_loudspeaker().is_playing())):
break
@@ -161,7 +161,7 @@ def soundGoal():
def turnSideLeft(v, ticks):
- 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, 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, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
cmd = 'turnSideLeft'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
@@ -177,7 +177,7 @@ def turnSideLeft(v, ticks):
def turnSideRight(v, ticks):
- 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, 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, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
cmd = 'turnSideRight'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
@@ -193,7 +193,7 @@ def turnSideRight(v, ticks):
def fwd(v, ticks):
- 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, 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, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
cmd = 'fwd'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -208,7 +208,7 @@ def fwd(v, ticks):
def bwd(v, ticks):
- 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, 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, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
cmd = 'bwd'
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -223,7 +223,7 @@ def bwd(v, ticks):
def left(v, ticks):
- 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, 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, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
cmd = 'left ({}, {})'.format(v, ticks)
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CCW)
@@ -238,7 +238,7 @@ def left(v, ticks):
def right(v, ticks):
- 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, 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, state, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, goal_width, posx_ball, posx_goal_left, posx_goal_right, x_min, posx_goal_both, posy_ball, posy_goal_left, posy_goal_right, x_max, v_slow, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left
cmd = 'right ({}, {})'.format(v, ticks)
if ticks >= 1:
TXT_M_M1_encodermotor.set_speed(int(v), Motor.CW)
@@ -279,7 +279,7 @@ state = 'NONE'
cmd = 'NONE'
time.sleep(2)
while True:
- if display.get_attr("txt_switch_active.checked"):
+ if display.get_attr("txt_switch_ball.checked"):
if posx_ball != None and posy_ball != None:
if posx_goal_left != None and posx_goal_right != None:
state = 'BALL_GOAL_BOTH'
@@ -326,9 +326,13 @@ while True:
else:
state = 'NONE'
cmd = 'NONE'
+ display.set_attr("txt_status_indicator_ball.active", str(posx_ball != None).lower())
+ display.set_attr("txt_status_indicator_goal_left.active", str(posx_goal_left != None).lower())
+ display.set_attr("txt_status_indicator_goal_right.active", str(posx_goal_right != None).lower())
display.set_attr("txt_label_ball.text", str('x:{}, y:{}'.format(posx_ball, posy_ball)))
- display.set_attr("txt_label_goal.text", str('left:{} {}, right:{} {}'.format(posx_goal_left, posy_goal_left, posx_goal_right, posy_goal_right)))
- display.set_attr("txt_label_goal_x.text", str('p:{}, w:{}'.format(posx_goal_both, goal_width)))
+ display.set_attr("txt_label_goal_left.text", str('{} {}'.format(posx_goal_left, posy_goal_left)))
+ display.set_attr("txt_label_goal_right.text", str('{} {}'.format(posx_goal_right, posy_goal_right)))
+ display.set_attr("txt_label_goal_both.text", str('p:{}, w:{}'.format(posx_goal_both, goal_width)))
print('{}:{} GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, cmd, posx_goal_left, posy_goal_left, posx_goal_right, posy_goal_right, posx_goal_both, goal_width, posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
checkTimeoutsSetGoalBoth()
time.sleep(0.08)