BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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modified soccer demo.

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This commit is contained in:
Kayman 2017-07-19 15:09:51 +09:00
parent 54433c57cd
commit c010310ef3
2 changed files with 6 additions and 4 deletions
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1
op3_demo/include/op3_demo/ball_follower.h
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@ -82,6 +82,7 @@ class BallFollower
const double FOV_HEIGHT;
const double MAX_FB_STEP;
const double MAX_RL_TURN;
const double IN_PLACE_FB_STEP;
const double MIN_FB_STEP;
const double MIN_RL_TURN;
const double UNIT_FB_STEP;

9
op3_demo/src/soccer/ball_follower.cpp
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@ -48,7 +48,8 @@ BallFollower::BallFollower()
NOT_FOUND_THRESHOLD(50),
MAX_FB_STEP(40.0 * 0.001),
MAX_RL_TURN(15.0 * M_PI / 180),
MIN_FB_STEP(0.0 * 0.001),
IN_PLACE_FB_STEP(0.0 * 0.001),
MIN_FB_STEP(5.0 * 0.001),
MIN_RL_TURN(5.0 * M_PI / 180),
UNIT_FB_STEP(1.0 * 0.001),
UNIT_RL_TURN(0.5 * M_PI / 180),
@ -216,7 +217,7 @@ bool BallFollower::processFollowing(double x_angle, double y_angle, double ball_
distance_to_ball *= (-1);
//double distance_to_kick = 0.25;
double distance_to_kick = 0.22;
double distance_to_kick = 0.15;
// check whether ball is correct position.
if ((distance_to_ball < distance_to_kick) && (fabs(ball_x_angle) < 25.0))
@ -258,7 +259,7 @@ bool BallFollower::processFollowing(double x_angle, double y_angle, double ball_
accum_ball_position_ -= 1;
// send message
setWalkingParam(MIN_FB_STEP, 0, 0);
setWalkingParam(IN_PLACE_FB_STEP, 0, 0);
return false;
}
@ -297,7 +298,7 @@ void BallFollower::setWalkingCommand(const std::string &command)
if (command == "start")
{
getWalkingParam();
setWalkingParam(MIN_FB_STEP, 0, 0, true);
setWalkingParam(IN_PLACE_FB_STEP, 0, 0, true);
}
std_msgs::String _command_msg;