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practiceBot.py
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practiceBot.py
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def autonomousPeriodic(self):
self.vision()
if self.state==0:
self.timer.reset()
self.state=1
elif self.state==1:
self.auto1=-.5
self.auto2=-.5
if self.timer.hasPeriodPassed(2):
self.state=2
elif self.state==2:
if self.alignY():
self.state=3
elif self.state==3:
if self.alignX():
self.state=4
def vision(self):
try:
self.vision_table.retrieveValue('centerX', self.vision_x)
self.vision_table.retrieveValue('centerY', self.vision_y)
except KeyError:
pass
def alignX(self):
if len(self.vision_x)>0:
if len(self.vision_x)==1:
self.vision_numberX=self.vision_x[0]
else:
good=self.vision_x[0]
normal=abs(self.vision_x[0]-160)
for i in self.vision_x[1:]:
total=abs(i-160)
if total <= normal:
normal=total
good=i
self.vision_numberX=good
if self.vision_numberX > 180:
self.auto_calc=(((self.vision_numberX-180)/140)*.25)+.25
self.auto1=self.auto_calc
self.auto2=(self.auto_calc)
elif self.vision_numberX < 150:
self.auto_calc=(((150-self.vision_numberX)/150)*.25)+.25
self.auto1=(-1*self.auto_calc)
self.auto2=(-1*self.auto_calc)
else:
return True
def alignY(self):
if len(self.vision_x)>0:
self.vision_numberY=self.vision_y[0]
if self.vision_numberY > 230:
self.auto_calc=(((self.vision_numberY-230)/90)*.25)+.25
self.auto1=(-1*self.auto_calc)
self.auto2=(self.auto_calc)
elif self.vision_numberY < 200:
self.auto_calc=(((200-self.vision_numberY)/200)*.25)+.25
self.auto1=(self.auto_calc)
self.auto2=(-1*self.auto_calc)
else:
return True