commit by robo pro coding

omniwheels_x4_soccer_goal.py

@@ -215,9 +215,9 @@ def search_ball_rot(v):
         right_v(v)
 
 
-def turnBallLeft():
+def turnSideLeft():
     global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
-    cmd = 'turnBallLeft'
+    cmd = 'turnSideLeft'
     TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CCW)
     TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CW)
     TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor)
@@ -226,9 +226,9 @@ def turnBallLeft():
     TXT_M_M3_encodermotor.start_sync(TXT_M_M4_encodermotor)
 
 
-def turnBallRight():
+def turnSideRight():
     global v, ticks, factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, counters, factor_ball_rot, posy_ball, posx_goal, search_dir_left, v_slow, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_fast, goal_width, pos_goal_both, state
-    cmd = 'turnBallRight'
+    cmd = 'turnSideRight'
     TXT_M_M1_encodermotor.set_speed(int(v_slow), Motor.CW)
     TXT_M_M2_encodermotor.set_speed(int(v_slow), Motor.CCW)
     TXT_M_M1_encodermotor.start_sync(TXT_M_M2_encodermotor)
@@ -379,7 +379,7 @@ while True:
                 elif posy_ball > y_ball_far and posy_ball <= y_ball_near:
                     fwd_v(v_slow)
                 elif posy_ball > y_ball_near and posy_ball <= y_ball_touch:
-                    turnBallLeft()
+                    turnSideLeft()
                 elif posy_ball <= y_ball_touch:
                     bwd_v(v_slow)
                 else:
@@ -396,9 +396,9 @@ while True:
                 fwd_v(v_slow)
             elif posy_ball <= y_ball_near:
                 if posx_goal[0] < posx_ball:
-                    turnBallRight()
+                    turnSideRight()
                 elif posx_goal[0] > posx_ball:
-                    turnBallLeft()
+                    turnSideLeft()
                 else:
                     stop()
             elif posy_ball <= y_ball_touch:
@@ -411,9 +411,9 @@ while True:
                 fwd_v(v_slow)
             elif posy_ball <= y_ball_near:
                 if posx_goal[1] < posx_ball:
-                    turnBallRight()
+                    turnSideRight()
                 elif posx_goal[1] > posx_ball:
-                    turnBallLeft()
+                    turnSideLeft()
                 else:
                     stop()
             elif posy_ball <= y_ball_touch:
@@ -428,9 +428,9 @@ while True:
                 if posx_ball > posx_goal[0] and posx_ball < posx_goal[1]:
                     fwd_v(v_slow)
                 elif posx_ball < posx_goal[0] and posx_ball < posx_goal[1]:
-                    turnBallLeft()
+                    turnSideLeft()
                 elif posx_ball > posx_goal[0] and posx_ball > posx_goal[1]:
-                    turnBallRight()
+                    turnSideRight()
                 else:
                     stop()
             elif posy_ball <= y_ball_touch:
@@ -444,9 +444,9 @@ while True:
             if pos_goal_both >= x_min and pos_goal_both <= x_max:
                 fwd_v(v_slow)
             elif pos_goal_both < x_min:
-                left_v(v_slow)
+                left(v_var_ball_xpos, min(max(goal_width * factor_ball_rot, 3), 100))
             elif pos_goal_both > x_max:
-                right_v(v_slow)
+                right(v_var_ball_xpos, min(max(goal_width * factor_ball_rot, 3), 100))
             else:
                 stop()
         elif (posx_ball == None or posy_ball == None) and (posx_goal[0] != None or posx_goal[1] == None):