commit by robo pro coding

omniwheels_x4_soccer_goal.py

@@ -58,19 +58,22 @@ def checkTimeoutsSetGoalBoth():
 
 def stepOnlyGoal():
     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, v_slow, x_max, v_var_ball_xpos, y_ball_far, v_fast, y_ball_touch, v_var_ball_ypos, y_ball_near, search_dir_left, ts_deltas
-    if posx_goal_both >= x_min and posx_goal_both <= x_max:
-        if goal_width < 130:
-            fwd(v_slow, 10)
-        elif goal_width > 40:
-            bwd(v_slow, 10)
+    if posx_goal_left != None and posx_goal_right != None:
+        if posx_goal_both >= x_min and posx_goal_both <= x_max:
+            if goal_width < 130:
+                fwd(v_slow, 10)
+            elif goal_width > 40:
+                bwd(v_slow, 10)
+            else:
+                pass
+        elif posx_goal_both < x_min:
+            left(v_slow, 10)
+        elif posx_goal_both > x_max:
+            right(v_slow, 10)
         else:
             pass
-    elif posx_goal_both < x_min:
-        left(v_slow, 10)
-    elif posx_goal_both > x_max:
-        right(v_slow, 10)
     else:
-        pass
+        left(v_slow, 10)
 
 
 def stepBall(shot):
@@ -315,12 +318,12 @@ while True:
                         turnSideRight(v_slow, 20)
             elif posx_goal_left != None and posx_goal_right == None:
                 state = 'BALL_GOAL_LEFT'
-                right(v_slow, 10)
-                turnSideLeft(v_slow, 10)
+                right(v_slow, 20)
+                turnSideLeft(v_slow, 20)
             elif posx_goal_left == None and posx_goal_right != None:
                 state = 'BALL_GOAL_RIGHT'
-                left(v_slow, 10)
-                turnSideRight(v_slow, 10)
+                left(v_slow, 20)
+                turnSideRight(v_slow, 20)
             else:
                 state = 'BALL_NO_GOAL'
                 stepBall(False)
@@ -350,6 +353,9 @@ while True:
     ts_deltas = [(time.time() * 1000) - ts_ball, (time.time() * 1000) - ts_goal_left, (time.time() * 1000) - ts_goal_right]
     print('{:.1f} {:.1f} {:.1f} {}:{}  GOAL left: {} {}, right:{} {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(ts_deltas[0], ts_deltas[1], ts_deltas[2], 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(min(ts_deltas) / 1000)
+    if posx_ball != None and posx_goal_left != None and posx_goal_right != None:
+        time.sleep(min(ts_deltas) / 1000)
+    else:
+        time.sleep(0.01)