From 131819f02a876c6d820fd187d1e19a8beeeced22 Mon Sep 17 00:00:00 2001 From: EmaMaker Date: Tue, 28 Jun 2022 10:39:35 +0200 Subject: [PATCH] misc value recalibration --- include/sensors/data_source_ball.h | 4 ++-- include/sensors/data_source_camera_conicmirror.h | 7 +------ utility/OpenMV/conic_eff_h7.py | 10 +++++----- 3 files changed, 8 insertions(+), 13 deletions(-) diff --git a/include/sensors/data_source_ball.h b/include/sensors/data_source_ball.h index aef29b0..70abefa 100644 --- a/include/sensors/data_source_ball.h +++ b/include/sensors/data_source_ball.h @@ -2,8 +2,8 @@ #include "behaviour_control/data_source.h" #include -#define MOUTH_MIN_ANGLE 340 -#define MOUTH_MAX_ANGLE 20 +#define MOUTH_MIN_ANGLE 345 +#define MOUTH_MAX_ANGLE 15 #define MOUTH_DISTANCE 100 #define MOUTH_MAX_DISTANCE 140 diff --git a/include/sensors/data_source_camera_conicmirror.h b/include/sensors/data_source_camera_conicmirror.h index 1505b04..5de0222 100644 --- a/include/sensors/data_source_camera_conicmirror.h +++ b/include/sensors/data_source_camera_conicmirror.h @@ -22,13 +22,8 @@ To overcome this, each coordinate needs to be shifted by some amount, defined on a per-robot basis that needs to be recalibrated each time. These values need to be subtracted from the coords used in setMoveSetpoints*/ -// Robot without roller -// #define CAMERA_TRANSLATION_X 0 -// #define CAMERA_TRANSLATION_Y 7 - -//Robot with roller #define CAMERA_TRANSLATION_X 0 -#define CAMERA_TRANSLATION_Y 0 +#define CAMERA_TRANSLATION_Y -12 class DataSourceCameraConic : public DataSource{ diff --git a/utility/OpenMV/conic_eff_h7.py b/utility/OpenMV/conic_eff_h7.py index d507d63..83be99a 100644 --- a/utility/OpenMV/conic_eff_h7.py +++ b/utility/OpenMV/conic_eff_h7.py @@ -46,10 +46,10 @@ blue_led.on() thresholds = [ (72, 100, -26, 12, 37, 91), # thresholds yellow goalz - (30, 54, -8, 12, -42, -17)] # thresholds blue goal (6, 31, -15, 4, -35, 0) + (45, 70, -9, 29, -80, -42)] # thresholds blue goal (6, 31, -15, 4, -35, 0) -roi = (20, 0, 260, 240) +roi = (40, 0, 260, 240) # Camera Setup ############################################################### '''sensor.reset()xxxx @@ -71,9 +71,9 @@ sensor.set_windowing(roi) sensor.set_contrast(3) sensor.set_saturation(3) sensor.set_brightness(3) -sensor.set_auto_whitebal(False, (-6.02073, -5.88632, -0.931115)) -sensor.set_auto_exposure(False, 4445) -sensor.set_auto_gain(False, 10.2374 ) +sensor.set_auto_whitebal(False, (-6.02073, -5.494869, -0.8559153)) +sensor.set_auto_exposure(False, 5845) +#sensor.set_auto_gain(True) sensor.skip_frames(time = 300) clock = time.clock()