fix some bugs we found in the field test

Code/Control/Laptop_Code/main_integrated_test.py

 import time
 import serial
-import ball_detection.ball_detection as ball_detection
+
 import simple_pid.PID as PID
 import timeit
 
 from constants import *
-
+global ml
+ml = 1
+if ml ==1:
+    import ball_detection.ball_detection as ball_detection
 # ========= Serial Port I/O ===========
 
 def serial_port_in(serial_port):
@@ -102,7 +105,7 @@ def goal_detect(tx,ty):
     '''
     return True if April Tag is detected
     '''
-    if tx == 100000 and ty == 100000:
+    if tx == 0 and ty == 0:
         return False
     else:
         return True
@@ -167,15 +170,21 @@ def move2goal(tx, ty):
     # Horizontal
     lspeed = -1 * outputx + base_speed
     rspeed =  1 * outputx + base_speed
-    pwm3 = abs(lspeed)
-    pwm4 = abs(rspeed)
+    # pwm3 = abs(lspeed)
+    # pwm4 = abs(rspeed)
+    pwm3 = min(abs(lspeed), 255)
+    pwm4 = min(abs(rspeed), 255)
     if (lspeed > 0):
         dir3 = '+'
+        # dir3 = '-'
     else:
         dir3 = '-'
+        # dir3 = '+'
     if (rspeed > 0):
+        #dir4 = '+'
         dir4 = '+'
     else:
+        # dir4 = '-'
         dir4 = '-'
 
     return int(pwm1), int(pwm2), int(pwm3), int(pwm4), dir1, dir2, dir3, dir4
@@ -283,7 +292,7 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
     ballDetect  = ball_detect(gbx, gby)
     ballCapture = ball_capture(LIDAR_dist)
     goalDetect  = goal_detect(tx, ty)
-
+    ballCapture = 1
     if ballCapture: # Ball captured
         if goalDetect:  # Goal detected
             # stop_all()  # Debug
@@ -314,7 +323,8 @@ if __name__ == '__main__':
     waitTime = 0.05
 
     # Loading the PyTorch ML model for ball detection
-    model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
+    if ml == 1:
+        model = ball_detection.returnModel(device, labelSet, modelLoc, modelFile)
 
     # =========== DECLARE VARIABLES ===========
     # ESP CAM In
@@ -332,14 +342,16 @@ if __name__ == '__main__':
     dir1, dir2, dir3, dir4 = '+', '+', '+', '+'
 
     # Trigger the ESP32_SLAVE to talk first
-    gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+    if ml == 1:
+        gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
     pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM)
     serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
 
     # =========== LOOP FOREVER===========
     while True:
         # ===== STEP 1: TAKE ALL INPUT =====
-        gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
+        if ml == 1:
+            gbx, gby, gb_dist = ball_detection.detectLive(model, minDetectionScore, showSight = True)
         line = serial_port.readline()
 
         if line == b'SERIAL_IN_START\r\n':
@@ -353,4 +365,4 @@ if __name__ == '__main__':
         # ===== STEP 3: FEED ALL OUTPUT =====
         serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)
 
-        time.sleep(waitTime)
+        time.sleep(waitTime)
\ No newline at end of file