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Author: Flova

bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py

@@ -51,7 +51,7 @@
 R: reset ball in simulation
 
 Head Modes:
-0: Search for Ball and track it if found
+0: Track the last known ball position
 1: Look generally for all features on the field (ball, goals, corners, center point)
 2: Simply look directly forward
 3: Don't move the head
@@ -147,7 +147,7 @@ def __init__(self):
         self.head_msg.joint_names = ["HeadPan", "HeadTilt"]
         self.head_msg.positions = [0.0] * 2
 
-        self.head_mode_msg = HeadMode()
+        self.head_mode_msg = HeadMode(head_mode=HeadMode.DONT_MOVE)
 
         self.head_pan_step = 0.05
         self.head_tilt_step = 0.05
@@ -221,7 +221,7 @@ def loop(self):
                     self.head_msg.positions[1] = 0
                     self.head_pub.publish(self.head_msg)
                 elif key == "0":
-                    # Search for Ball and track it if found
+                    # Track the last known ball position
                     self.head_mode_msg.head_mode = HeadMode.TRACK_BALL
                     assert int(key) == HeadMode.TRACK_BALL
                 elif key == "1":