Tracking Ball

run soccer.py

Keys to initialize field

• Press 's' to set field.
• Press 'g' to set goal.
• Press 'h' to edit HSV-threshhold. When done press 'h' again.
• Press 'q' to quit program.

Functions of soccer.py to get values for robot

get_ball_state()

returns list with five elements containing x-pixel-coordinate of ball, y-pixel-coordinate of ball, bool of ball moving, bool if goal was scored since last call of function, bool of ball visible (bool: 1.0 for True, 0.0 for False)

get_local_ball_position()

returns list with two elements containing x-world-coordinate of ball, y-world-coordinate of ball

get_goal_transform()

returns list with three elements containing x-world-coordinate of goal, y-world-coordinate of goal, rotation of goal around z-axis