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mix fixes git decided to cancel

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EmaMaker 2021-05-13 19:14:45 +02:00
parent 16a781df34
commit 0c5737c1ad
7 changed files with 26 additions and 249 deletions
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4
include/motors_movement/drivecontroller.h
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@ -20,12 +20,14 @@
//Max possible vel 310
#define MAX_VEL 180
#define MAX_VEL 125
#define MAX_VEL_EIGTH ((int)MAX_VEL*0.8)
#define MAX_VEL_HALF ((int)MAX_VEL*0.5)
#define MAX_VEL_3QUARTERS ((int)MAX_VEL*0.75)
#define MAX_VEL_QUARTER ((int)MAX_VEL*0.25)
//#define DRIVE_VECTOR_SUM
class DriveController{
public:

4
include/systems/lines/linesys_camera.h
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@ -16,8 +16,8 @@
#define S4I A0
#define S4O A1
#define LINE_THRESH_CAM 325
#define EXIT_TIME 300
#define LINE_THRESH_CAM 350
#define EXIT_TIME 400
class LineSysCamera : public LineSystem{

7
src/main.cpp
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@ -17,6 +17,7 @@ bool striker_condition = false;
bool keeper_condition = false;
void setup() {
pinMode(BUZZER, OUTPUT);
tone(BUZZER, 220, 250);
delay(1500);
DEBUG.begin(115200);
@ -53,9 +54,9 @@ void loop() {
striker_condition = role == HIGH || ((Keeper*)keeper)->shouldStrike;
keeper_condition = role == LOW;
// striker->play(striker_condition);
// keeper->play(keeper_condition);
precision_shooter->play(1);
striker->play(striker_condition);
keeper->play(keeper_condition);
// precision_shooter->play(1);
testmenu->testMenu();

8
src/motors_movement/drivecontroller.cpp
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@ -68,11 +68,13 @@ void DriveController::drive(int dir, int speed, int tilt){
//TODO: Changing CURRENT_DATA_READ to CURRENT_DATA_WRITE?
// Disable vector sum because calculations are a bitty crappy imho. Will have to test if it's what makes the robot act strange with lines
// Re enabling the below lines requires to comment out drive->prepareDrive and uncommenting the lines relative to vector sum inside positionsys_camera and comment out the other lines here
#ifdef DRIVE_VECTOR_SUM
vx = ((speed * cosins[dir])) + CURRENT_DATA_READ.addvx;
vy = ((-speed * sins[dir])) + CURRENT_DATA_READ.addvy;
// vx = ((speed * cosins[dir]));
// vy = ((-speed * sins[dir]));
#else
vx = ((speed * cosins[dir]));
vy = ((-speed * sins[dir]));
#endif
// if((((vy < 0 && vxn == 1) || (vy > 0 && vxp == 1) || (vx < 0 && vyp == 1) || (vx > 0 && vyn == 1)) && canUnlock) || (millis() > this->unlockTime+UNLOCK_THRESH)) {
// vxn = 0;

6
src/sensors/data_source_ball.cpp
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@ -41,13 +41,13 @@ void DataSourceBall :: test(){
}
bool DataSourceBall::isInFront(){
return (CURRENT_DATA_READ.ballAngle > MOUTH_MIN_ANGLE || CURRENT_DATA_READ.ballAngle < MOUTH_MAX_ANGLE );
return CURRENT_DATA_READ.ballSeen && (CURRENT_DATA_READ.ballAngle > MOUTH_MIN_ANGLE || CURRENT_DATA_READ.ballAngle < MOUTH_MAX_ANGLE );
}
bool DataSourceBall::isInMouth(){
return isInFront() && CURRENT_DATA_READ.ballDistance<=MOUTH_DISTANCE;
return CURRENT_DATA_READ.ballSeen && (isInFront() && CURRENT_DATA_READ.ballDistance<=MOUTH_DISTANCE);
}
bool DataSourceBall::isInMouthMaxDistance(){
return isInFront() && CURRENT_DATA_READ.ballDistance <= MOUTH_MAX_DISTANCE;
return CURRENT_DATA_READ.ballSeen && (isInFront() && CURRENT_DATA_READ.ballDistance <= MOUTH_MAX_DISTANCE);
}

28
src/system/positions/positionsys_camera.cpp
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@ -42,26 +42,18 @@ void PositionSysCamera::update(){
if(CURRENT_DATA_WRITE.bSeen == true && CURRENT_DATA_WRITE.ySeen == true){
posx = (CURRENT_DATA_WRITE.cam_xy + CURRENT_DATA_WRITE.cam_xb) / 2;
posy = CURRENT_DATA_WRITE.cam_yb + CURRENT_DATA_WRITE.cam_yy;
//IMPORTANT STEP: or the direction of the plane will be flipped
posx *= -1;
posy *= -1;
}else if (CURRENT_DATA_WRITE.bSeen == true && CURRENT_DATA_WRITE.ySeen == false){
posx = CURRENT_DATA_WRITE.cam_xb;
posy = CURRENT_DATA_WRITE.cam_yb + calcOtherGoalY(CURRENT_DATA_WRITE.cam_yb);
//IMPORTANT STEP: or the direction of the plane will be flipped
posx *= -1;
posy *= -1;
}else if (CURRENT_DATA_WRITE.bSeen == false && CURRENT_DATA_WRITE.ySeen == true){
posx = CURRENT_DATA_WRITE.cam_xy;
posy = CURRENT_DATA_WRITE.cam_yy + calcOtherGoalY(CURRENT_DATA_WRITE.cam_yy);
//IMPORTANT STEP: or the direction of the plane will be flipped
posx *= -1;
posy *= -1;
}
//IMPORTANT STEP: or the direction of the plane will be flipped
posx *= -1;
posy *= -1;
if(abs(CURRENT_DATA_READ.posx-CURRENT_DATA_WRITE.posx)>MAX_X || abs(CURRENT_DATA_READ.posy-CURRENT_DATA_WRITE.posy)>MAX_Y|| (CURRENT_DATA_WRITE.bSeen == false && CURRENT_DATA_WRITE.ySeen == false) ) {
// Go back in time until we found a valid status, when we saw at least one goal
int i = 1;
@ -154,18 +146,16 @@ void PositionSysCamera::CameraPID(){
speed = speed > 30 ? speed : 0;
dir = filterDir->calculate(dir);;
//speed = filterSpeed->calculate(speed);
// drive->prepareDrive(dir, speed, 0);
//Disable below lines for now because they probably result in unexpected behaviour on lines. Re enabling them requires to comment out the drive->prepareDrive above
//and check the notes in drivecontroller for the other stuff to comment and uncomment
//TODO: add complementary filter on this speed if we keep using it
#ifdef DRIVE_VECTOR_SUM
vx = ((speed * cosins[dir]));
vy = ((-speed * sins[dir]));
CURRENT_DATA_WRITE.addvx = vx;
CURRENT_DATA_WRITE.addvy = vy;
#else
drive->prepareDrive(dir, speed, 0);
#endif
}
}

218
utility/OpenMV/conic_eff_h7.py.autosave
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@ -1,218 +0,0 @@
# color tracking with conic mirror - By: EmaMaker - wed 15 jan 2020
# Based on:
# color tracking - By: paolix - ven mag 18 2018
# Automatic RGB565 Color Tracking Example
#
import sensor, image, time, pyb, math
from pyb import UART
uart = UART(3,19200, timeout_char = 1000)
START_BYTE = chr(105) #'i'
END_BYTE = chr(115) #'s'
BYTE_UNKNOWN = chr(116) #'t'
y_found = False
b_found = False
#From Arduino Documentation at: https://www.arduino.cc/reference/en/language/functions/math/map/
def val_map(x, in_min, in_max, out_min, out_max):
x = int(x)
in_min = int(in_min)
in_max = int(in_max)
out_min = int(out_min)
out_max = int(out_max)
return int((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)
# Check side
def isInLeftSide(img, x):
return x < img.width() / 2
def isInRightSide(img, x):
return x > img.width() / 2
# LED Setup ##################################################################
red_led = pyb.LED(1)
green_led = pyb.LED(2)
blue_led = pyb.LED(3)
red_led.off()
green_led.off()
blue_led.on()
##############################################################################
thresholds = [ (66, 88, -12, 26, 50, 79), # thresholds yellow goalz
(40, 61, -9, 19, -61, -21)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
roi = (80, 0, 240, 200)
# Camera Setup ###############################################################
'''sensor.reset()xxxx
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
++++++++++++++++++++++++++++++
sensor.set_auto_exposure(False, 10000) vbc
#sensor.set_backlight(1)
#sensor.set_brightness(+2 )
#sensor.set_windowing(roi)
clock = time.clock()'''
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_windowing(roi)
sensor.set_contrast(0)
sensor.set_saturation(2)
sensor.set_brightness(3)
sensor.set_auto_whitebal(True, (-6.02073, -4.528669, -1.804))
sensor.set_auto_exposure(False, 6576)
#sensor.set_auto_gain(False, gain_db=8.78)
sensor.skip_frames(time = 300)
clock = time.clock()
##############################################################################
while(True):
clock.tick()
print("Exposure: " + str(sensor.get_exposure_us()) + " Gain: " + str(sensor.get_gain_db()) + " White Bal: " + str(sensor.get_rgb_gain_db()))
blue_led.off()
y_found = False
b_found = False
tt_yellow = [(0,999,0,1)] ## creo una lista di tuple per il giallo, valore x = 999 : non trovata
tt_blue = [(0,999,0,2)] ## creo una lista di tuple per il blue, valore x = 999 : non trovata
img = sensor.snapshot()
for blob in img.find_blobs(thresholds, pixels_threshold=80, area_threshold=100, merge = True):
img.draw_rectangle(blob.rect())
#img.draw_cross(blob.cx(), blob.cy())
if (blob.code() == 1):
tt_yellow = tt_yellow + [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
y_found = True
if (blob.code() == 2):
tt_blue = tt_blue + [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
b_found = True
tt_yellow.sort(key=lambda tup: tup[0]) ## ordino le liste
tt_blue.sort(key=lambda tup: tup[0]) ## ordino le liste
ny = len(tt_yellow)
nb = len(tt_blue)
#Formulas to compute position of points, considering that the H7 is rotated by a certain angle
#x = y-offset
#y = offset - x
#Compute everything related to Yellow First
y_area, y1_cx, y1_cy, y_code = tt_yellow[ny-1]
y_cx = int(y1_cy - img.height() / 2)
y_cy = int(img.width() / 2 - y1_cx)
#Normalize data between 0 and 100
if y_found == True:
img.draw_cross(y1_cx, y1_cy)
y_cx = val_map(y_cx, -img.height() / 2, img.height() / 2, 100, 0)
y_cy = val_map(y_cy, -img.width() / 2, img.width() / 2, 0, 100)
#Prepare for send as a list of characters
s_ycx = chr(y_cx)
s_ycy = chr(y_cy)
else:
y_cx = BYTE_UNKNOWN
y_cy = BYTE_UNKNOWN
#Prepare for send as a list of characters
s_ycx = y_cx
s_ycy = y_cy
#Compute everything relative to Blue
'''Given the light situation in our lab and given that blue is usually harder to spot than yellow, we need to check it we got
a blue blob that is in the same side of the ground as the yellow one, if so, discard it and check a new one
'''
b_cx = BYTE_UNKNOWN
b_cy = BYTE_UNKNOWN
#Prepare for send as a list of characters
s_bcx = b_cx
s_bcy = b_cy
if b_found == True:
for i in range(nb-1, 0,-1):
b_area, b1_cx, b1_cy, b_code = tt_blue[i]
if (not y_found) or ((isInRightSide(img, b1_cx) and isInLeftSide(img, y1_cx)) or (isInRightSide(img, y1_cx) and isInLeftSide(img, b1_cx))):
img.draw_cross(b1_cx, b1_cy)
b_cx = int(b1_cy - img.height() / 2)
b_cy = int(img.width() / 2 - b1_cx)
#print("before :" + str(b_cx) + " " + str(b_cy))
b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0)
b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100)
#print("after :" + str(b_cx) + " " + str(b_cy))
#Prepare for send as a list of characters
s_bcx = chr(b_cx)
s_bcy = chr(b_cy)
'''index = 1
if b_found == True:
while nb-index >= 0:
b_area, b1_cx, b1_cy, b_code = tt_blue[nb-index]
index += 1
# If the two blobs are on opposide side of the field, everything is good
if (not y_found) or ((isInRightSide(img, b1_cx) and isInLeftSide(img, y1_cx)) or (isInRightSide(img, y1_cx) and isInLeftSide(img, b1_cx))):
img.draw_cross(b1_cx, b1_cy)
b_cx = int(b1_cy - img.height() / 2)
b_cy = int(img.width() / 2 - b1_cx)
print("before :" + str(b_cx) + " " + str(b_cy))
b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0)
b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100)
print("after :" + str(b_cx) + " " + str(b_cy))
#Prepare for send as a list of characters
s_bcx = chr(b_cx)
s_bcy = chr(b_cy)
break
else:
b_cx = BYTE_UNKNOWN
b_cy = BYTE_UNKNOWN
#Prepare for send as a list of characters
s_bcx = b_cx
s_bcy = b_cy'''
#print(str(y_cx) + " | " + str(y_cy) + " --- " + str(b_cx) + " | " + str(b_cy))
uart.write(START_BYTE)
uart.write(s_bcx)
uart.write(s_bcy)
uart.write(s_ycx)
uart.write(s_ycy)
uart.write(END_BYTE)