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log.txt
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Connecting
Arduino not connected on ACM0
Arduino not connected on ACM1
Connected
Init IM &T S*1DI5324AI DO AO ;
Tracking no targets!
Starting Vision System
going for target...greenBall
vision system set
unpaused
walltimer: started wrapper
0.0319998264313
walltimer: 1.27399992943
dist (-216.0, 40.0)
dist (-216.0, 40.0)
see target to left
started turn and look with target, all
set starting state
Running TurnAndLook
Running TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: cyanButton
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: cyanButton
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: cyanButton
target cent: False
keep turning
looping TurnLeft
got to stopwalltimer:
Current state: 2.29299998283TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: cyanButton
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: cyanButton
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: cyanButton
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: cyanButton
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
walltimer: 3.35199999809
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping walltimer: TurnLeft
got to stop4.36299991608
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
walltimer: 5.40899991989
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (1, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (1, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (1, 0)
failed to see ball
target seen: None
target cent: False
keep turning
walltimer: looping 6.45000004768TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (1, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (1, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (1, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (1, 0)
failed to see ball
target seen: None
target cent: walltimer: False
7.49699997902keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (1, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 1)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 1)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 1)
failed to see ball
target seen: None
target cent:walltimer: False8.56799983978
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 1)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 1)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 2)
failed to see ball
target seen: None
target cent: False
keep turning
looping walltimer: TurnLeft9.61599993706
got to stop
Current state: TurnAndLook
Stuckness: (0, 2)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 2)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 2)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 2)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 2)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: walltimer: (0, 2)10.6919999123
failed to see ball
target seen: None
target cent: False
now go wander
SM next state
Running Wander
Running GoForward
Current state: Wander
Stuckness: (0, 2)
SM next state
Running Stuck
Running GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBackwalltimer:
Current state: 11.6970000267
Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
looping GoBack
Current state: Stuck
dist None
don't see target
started turn and look with target, all
SM next state
Running TurnAndLook
Running TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
walltimer: 12.7139999866
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: walltimer: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
13.7289998531
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: walltimer: False
keep turning
14.7739999294looping
TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
failed to see ball
target seen: None
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
walltimer: got to stop 15.7929999828
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: False
keep turning
looping TurnLeft
got to stop
Current state: TurnAndLook
Stuckness: (0, 0)
target seen: greenBall
target cent: True
centered ball, approach!
SM next state
Running Pause
Running DoNothing
Current state: Pause
looping DoNothing 1359755860.51
Current state: Pause
looping DoNothing 1359755860.54
Current state: Pause
looping DoNothing 1359755860.57
Current state: Pause
looping DoNothing 1359755860.57
Current state: Pause
looping DoNothing 1359755860.62
Current state: Pause
looping DoNothing 1359755860.63
Current state: Pause
looping DoNothing 1359755860.63
Current state: Pause
looping DoNothing 1359755860.63
Current state: Pause
looping DoNothing 1359755860.67
Current state: Pause
looping DoNothing 1359755860.69
Current state: Pause
looping DoNothing 1359755860.69
Current state: Pause
looping DoNothing 1359755860.7
Current state: Pause
looping walltimer: DoNothing 16.79699993131359755860.77
Current state: Pause
looping DoNothing 1359755860.83
Current state: Pause
looping DoNothing 1359755860.86
Current state: Pause
looping DoNothing 1359755860.86
Current state: Pause
looping DoNothing 1359755860.87
Current state: Pause
looping DoNothing 1359755860.91
Current state: Pause
looping DoNothing 1359755860.96
Current state: Pause
looping DoNothing 1359755860.99
Current state: Pause
looping DoNothing 1359755860.99
Current state: Pause
transition to... ApproachBall
SM next state
Running ApproachBall
Running ForwardToTarget
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-232.0, 33.0)
looping ForwardToTarget
error= -28.875
integral= -4.41787147522
derivative= 0.0
L/R speeds: -56 -103
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-232.0, 33.0)
looping ForwardToTarget
error= -29.0
integral= -11.6233110726
derivative= -0.0502007886003
L/R speeds: -55 -104
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-214.0, 25.0)
looping ForwardToTarget
error= -24.625
integral= -20.0692501068
derivative= walltimer: 1.3888886365917.8139998913
L/R speeds:
-59 -100
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-183.0, 28.0)
looping ForwardToTarget
error= -22.25
integral= -25.8817479163
derivative= 0.957661651222
L/R speeds: -60 -99
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-167.0, 28.0)
looping ForwardToTarget
error= -20.75
integral= -31.3212483674
derivative= 0.592885326327
L/R speeds: -60 -99
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-163.0, 22.0)
looping ForwardToTarget
error= -20.25
integral= -36.4462483674
derivative= 0.2
L/R speeds: -60 -99
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-160.0, 18.0)
looping ForwardToTarget
error= -20.0
integral= -40.1693722159
derivative= 0.135135176932
L/R speeds: -60 -99
Current state: ApproachBall
Stuckness: (0, 0)
walltimer: 18.8229999542
see ball at (-156.0, 7.0)
looping ForwardToTarget
error= -19.375
integral= -45.0715611428
derivative= 0.251003943002
L/R speeds: -60 -99
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-149.0, -10.0)
looping ForwardToTarget
error= -18.5
integral= -48.5560614318
derivative= 0.475543438825
L/R speeds: -60 -99
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-145.0, -28.0)
looping ForwardToTarget
error= -17.875
integral= -52.8664987236
derivative= 0.263713092903
L/R speeds: -60 -99
Current state: ApproachBall
Stuckness: (0, 0)
see ball at (-146.0, -53.0)
looping ForwardToTarget
error= -18.125
integral= -56.2324993759
derivative= -0.133689813664
L/R speeds: -59 -100
Current state: ApproachBall
Stuckness: (0, 0)
charging b/c ball close
SM next state
Running Charge
Running MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping walltimer: MaxForward19.8429999352
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: walltimer: Charge20.8910000324
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge
looping MaxForward
Current state: Charge