BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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fixed a bug not to kick

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This commit is contained in:
Kayman 2018-10-02 13:32:51 +09:00
parent 35910d0884
commit e1d1314d1e
2 changed files with 6 additions and 2 deletions
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4
op3_demo/src/soccer/ball_follower.cpp
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@ -91,7 +91,7 @@ void BallFollower::startFollowing()
void BallFollower::stopFollowing()
{
on_tracking_ = false;
approach_ball_position_ = NotFound;
// approach_ball_position_ = NotFound;
count_to_kick_ = 0;
accum_ball_position_ = 0;
ROS_INFO("Stop Ball following");
@ -192,7 +192,7 @@ bool BallFollower::processFollowing(double x_angle, double y_angle, double ball_
ROS_INFO_STREAM_COND(DEBUG_PRINT,
"== Head Tilt : " << (current_tilt_ * 180 / M_PI) << " | Ball Y : " << (y_angle * 180 / M_PI));
approach_ball_position_ = NotFound;
approach_ball_position_ = OutOfRange;
double distance_to_ball = CAMERA_HEIGHT * tan(M_PI * 0.5 + current_tilt_ - hip_pitch_offset_ - ball_size);

4
op3_demo/src/soccer/soccer_demo.cpp
View File

@ -537,7 +537,11 @@ void SoccerDemo::handleKick()
// kick motion
int ball_position = ball_follower_.getBallPosition();
if(ball_position == BallFollower::NotFound || ball_position == BallFollower::OutOfRange)
{
on_following_ball_ = false;
restart_soccer_ = true;
return;
}
switch (ball_position)
{