While loop and Python with NAO

Question

So i've got a Code with Python and i'm trying to make it work with NAO (Aldebaran Robotics)

import time
class MyClass(GeneratedClass):
    def __init__(self):
        GeneratedClass.__init__(self)
        self.motion = ALProxy("ALMotion")
        self.maxTour = 3
        self.reponse = False

    def onLoad(self):
        #~ puts code for box initialization here
        self.tournerDroite()
        time.sleep(5)
        #detect ball
        self.tournerCentre()
        time.sleep(5)
         #detect ball
        self.turnLeft()
         #detect ball
        #self.notInCenter()
        #self.redBall()
        pass

    def onUnload(self):
        #~ puts code for box cleanup here
        pass

    def onInput_onStart(self, ):
        #~ self.onStopped() #~ activate output of the box
        pass

    def onInput_onStop(self):
        self.onUnload() #~ it is recommanded to call onUnload of this box in a onStop method, as the code written in onUnload is used to stop the box as well
        pass

    def turnRight(self):
        self.motion.setStiffnesses("HeadYaw", 0)
        self.motion.setAngles("HeadYaw", -0.5, 0.05)
        self.motion.setStiffnesses("HeadYaw", 1)
        pass
    def turnLeft(self):
        self.motion.setStiffnesses("HeadYaw", 0)
        self.motion.setAngles("HeadYaw", 0.5, 0.05)
        self.motion.setStiffnesses("HeadYaw", 1)
        pass
    def turnCenter(self):
        self.motion.setStiffnesses("HeadYaw", 0)
        self.motion.setAngles("HeadYaw", 0, 0.05)
        self.motion.setStiffnesses("HeadYaw", 1)
        pass

    def notInCenter(self):
        if(self.motion.getAngles("HeadYaw", True) != 0):
            self.turnCenter()
            return True
        else:
            return False
        pass

    def redBall(self):
        while self.reponse == False:
            self.turnRight()
            time.sleep(5)
            #detect ball

            self.turnCenter()
            time.sleep(5)
             #detect ball
            self.turnLeft()
             #detect ball
        pass

The problem is that in onLoad(), the robot turn is head Right, then Center, then Left but when i use the redBall(), it doesn't, it just turn right and center, and go back and forth.

Shouldn't there be a `time.sleep(5)` after `self.turnLeft()` in `redBall`? Because now, when you call turnLeft, the loop immediately continues and it calls turnRight again. That means it won't have time to do the turn to the left. — Simeon Visser, Apr 04 '12 at 13:28
haha, this is really silly, but it's true and now it's working, can you put it in a proper answer so i can validate it. — Tsunaze, Apr 04 '12 at 13:44
No problem, I've added an answer with pretty much the same content. — Simeon Visser, Apr 04 '12 at 13:52
Also, you don't need to end a function in Python with `pass`. You only need it in functions which are not written yet (such as `onUnload`) and other places where Python expects at least one line of code. When there's already some code, it's no longer needed to write `pass`. — Simeon Visser, Apr 04 '12 at 13:54

score 0 · Accepted Answer · answered Apr 04 '12 at 13:51

There should be time.sleep(5) after self.turnLeft() in redBall.

When you call turnLeft, the loop immediately continues and it calls turnRight again. That means it won't have time to do the turn to the left. That's why it does a right and center turn but no left turn.

score 0 · Answer 2 · answered May 29 '13 at 08:27

Seems like you're using setStiffnesses in an inverted way: 0 remove the power from the motor, and 1 set the power.

So: self.motion.setStiffnesses("HeadYaw", 0) self.motion.setAngles("HeadYaw", -0.5, 0.05) self.motion.setStiffnesses("HeadYaw", 1)

is removing the power, then turn head, but do nothing because there's no power, then set the power => nothing

While loop and Python with NAO

2 Answers2