diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py b/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py index 90107d664..51f7eb197 100644 --- a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py +++ b/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py @@ -8,12 +8,12 @@ from bitbots_msgs.msg import Audio, HeadMode, RobotControlState THeadMode: TypeAlias = Literal[ # type: ignore[valid-type] - HeadMode.BALL_MODE, - HeadMode.FIELD_FEATURES, + HeadMode.SEARCH_BALL, + HeadMode.SEARCH_FIELD_FEATURES, HeadMode.LOOK_FORWARD, HeadMode.DONT_MOVE, - HeadMode.BALL_MODE_PENALTY, - HeadMode.LOOK_FRONT, + HeadMode.SEARCH_BALL_PENALTY, + HeadMode.SEARCH_FRONT, ] diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py b/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py index a2948d98b..ad5eb3075 100644 --- a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py +++ b/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py @@ -45,7 +45,7 @@ class SearchBall(AbstractHeadModeElement): """Look for ball""" def perform(self): - self.blackboard.misc.set_head_duty(HeadMode.BALL_MODE) + self.blackboard.misc.set_head_duty(HeadMode.SEARCH_BALL) return self.pop() @@ -53,7 +53,7 @@ class LookAtFieldFeatures(AbstractHeadModeElement): """Look generally for all features on the field (ball, goals, corners, center point)""" def perform(self): - self.blackboard.misc.set_head_duty(HeadMode.FIELD_FEATURES) + self.blackboard.misc.set_head_duty(HeadMode.SEARCH_FIELD_FEATURES) return self.pop() @@ -77,7 +77,7 @@ class LookAtBallPenalty(AbstractHeadModeElement): """Ball Mode adapted for Penalty Kick""" def perform(self): - self.blackboard.misc.set_head_duty(HeadMode.BALL_MODE_PENALTY) + self.blackboard.misc.set_head_duty(HeadMode.SEARCH_BALL_PENALTY) return self.pop() @@ -85,5 +85,5 @@ class LookAtFront(AbstractHeadModeElement): """Search in front of the robot""" def perform(self): - self.blackboard.misc.set_head_duty(HeadMode.LOOK_FRONT) + self.blackboard.misc.set_head_duty(HeadMode.SEARCH_FRONT) return self.pop() diff --git a/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py b/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py index 341518df0..f88fadad4 100755 --- a/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py +++ b/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py @@ -222,12 +222,12 @@ def loop(self): self.head_pub.publish(self.head_msg) elif key == "0": # Search for Ball and track it if found - self.head_mode_msg.head_mode = HeadMode.BALL_MODE - assert int(key) == HeadMode.BALL_MODE + self.head_mode_msg.head_mode = HeadMode.SEARCH_BALL + assert int(key) == HeadMode.SEARCH_BALL elif key == "1": # Look generally for all features on the field (ball, goals, corners, center point) - self.head_mode_msg.head_mode = HeadMode.FIELD_FEATURES - assert int(key) == HeadMode.FIELD_FEATURES + self.head_mode_msg.head_mode = HeadMode.SEARCH_FIELD_FEATURES + assert int(key) == HeadMode.SEARCH_FIELD_FEATURES elif key == "2": # Simply look directly forward self.head_mode_msg.head_mode = HeadMode.LOOK_FORWARD @@ -238,12 +238,12 @@ def loop(self): assert int(key) == HeadMode.DONT_MOVE elif key == "4": # Ball Mode adapted for Penalty Kick - self.head_mode_msg.head_mode = HeadMode.BALL_MODE_PENALTY - assert int(key) == HeadMode.BALL_MODE_PENALTY + self.head_mode_msg.head_mode = HeadMode.SEARCH_BALL_PENALTY + assert int(key) == HeadMode.SEARCH_BALL_PENALTY elif key == "5": # Do a pattern which only looks in front of the robot - self.head_mode_msg.head_mode = HeadMode.LOOK_FRONT - assert int(key) == HeadMode.LOOK_FRONT + self.head_mode_msg.head_mode = HeadMode.SEARCH_FRONT + assert int(key) == HeadMode.SEARCH_FRONT elif key == "y": # kick left forward pass diff --git a/bitbots_motion/bitbots_head_mover/src/move_head.cpp b/bitbots_motion/bitbots_head_mover/src/move_head.cpp index 242887a6f..f4b690e65 100644 --- a/bitbots_motion/bitbots_head_mover/src/move_head.cpp +++ b/bitbots_motion/bitbots_head_mover/src/move_head.cpp @@ -717,14 +717,14 @@ class HeadMover { // Check if the head mode changed and if so, update the search pattern if (prev_head_mode_ != curr_head_mode) { switch (curr_head_mode) { - case bitbots_msgs::msg::HeadMode::BALL_MODE: // 0 + case bitbots_msgs::msg::HeadMode::SEARCH_BALL: // 0 pan_speed_ = params_.search_pattern.pan_speed; tilt_speed_ = params_.search_pattern.tilt_speed; pattern_ = generatePattern(params_.search_pattern.scan_lines, params_.search_pattern.pan_max[0], params_.search_pattern.pan_max[1], params_.search_pattern.tilt_max[0], params_.search_pattern.tilt_max[1], params_.search_pattern.reduce_last_scanline); break; - case bitbots_msgs::msg::HeadMode::BALL_MODE_PENALTY: // 11 + case bitbots_msgs::msg::HeadMode::SEARCH_BALL_PENALTY: // 11 pan_speed_ = params_.search_pattern_penalty.pan_speed; tilt_speed_ = params_.search_pattern_penalty.tilt_speed; pattern_ = @@ -733,7 +733,7 @@ class HeadMover { params_.search_pattern_penalty.tilt_max[1], params_.search_pattern.reduce_last_scanline); break; - case bitbots_msgs::msg::HeadMode::FIELD_FEATURES: // 3 + case bitbots_msgs::msg::HeadMode::SEARCH_FIELD_FEATURES: // 3 pan_speed_ = params_.search_pattern_field_features.pan_speed; tilt_speed_ = params_.search_pattern_field_features.tilt_speed; pattern_ = generatePattern( @@ -742,7 +742,7 @@ class HeadMover { params_.search_pattern_field_features.tilt_max[1], params_.search_pattern.reduce_last_scanline); break; - case bitbots_msgs::msg::HeadMode::LOOK_FRONT: // 13 + case bitbots_msgs::msg::HeadMode::SEARCH_FRONT: // 13 pan_speed_ = params_.front_search_pattern.pan_speed; tilt_speed_ = params_.front_search_pattern.tilt_speed; pattern_ = diff --git a/bitbots_msgs/msg/HeadMode.msg b/bitbots_msgs/msg/HeadMode.msg index 8d1603f91..7d2aa6d1e 100644 --- a/bitbots_msgs/msg/HeadMode.msg +++ b/bitbots_msgs/msg/HeadMode.msg @@ -2,17 +2,17 @@ # The body tells the head by this message what it shall do. # Search for Ball and track it if found -uint8 BALL_MODE=0 +uint8 SEARCH_BALL=0 # Look generally for all features on the field (ball, goals, corners, center point) -uint8 FIELD_FEATURES=1 +uint8 SEARCH_FIELD_FEATURES=1 # Simply look directly forward uint8 LOOK_FORWARD=2 #Don't move the head uint8 DONT_MOVE=3 # Ball Mode adapted for Penalty Kick -uint8 BALL_MODE_PENALTY = 4 +uint8 SEARCH_BALL_PENALTY = 4 # Do a pattern which only looks in front of the robot -uint8 LOOK_FRONT = 5 +uint8 SEARCH_FRONT = 5 uint8 head_mode