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misc value recalibration

pull/1/head
EmaMaker 2022-06-28 10:39:35 +02:00
parent fb3bbc3737
commit 131819f02a
3 changed files with 8 additions and 13 deletions
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4
include/sensors/data_source_ball.h
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@ -2,8 +2,8 @@
#include "behaviour_control/data_source.h" #include "behaviour_control/data_source.h"
#include <Arduino.h> #include <Arduino.h>
#define MOUTH_MIN_ANGLE 340 #define MOUTH_MIN_ANGLE 345
#define MOUTH_MAX_ANGLE 20 #define MOUTH_MAX_ANGLE 15
#define MOUTH_DISTANCE 100 #define MOUTH_DISTANCE 100
#define MOUTH_MAX_DISTANCE 140 #define MOUTH_MAX_DISTANCE 140

7
include/sensors/data_source_camera_conicmirror.h
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@ -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. 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*/ 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_X 0
#define CAMERA_TRANSLATION_Y 0 #define CAMERA_TRANSLATION_Y -12
class DataSourceCameraConic : public DataSource{ class DataSourceCameraConic : public DataSource{

10
utility/OpenMV/conic_eff_h7.py
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@ -46,10 +46,10 @@ blue_led.on()
thresholds = [ (72, 100, -26, 12, 37, 91), # thresholds yellow goalz 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 ############################################################### # Camera Setup ###############################################################
'''sensor.reset()xxxx '''sensor.reset()xxxx
@ -71,9 +71,9 @@ sensor.set_windowing(roi)
sensor.set_contrast(3) sensor.set_contrast(3)
sensor.set_saturation(3) sensor.set_saturation(3)
sensor.set_brightness(3) sensor.set_brightness(3)
sensor.set_auto_whitebal(False, (-6.02073, -5.88632, -0.931115)) sensor.set_auto_whitebal(False, (-6.02073, -5.494869, -0.8559153))
sensor.set_auto_exposure(False, 4445) sensor.set_auto_exposure(False, 5845)
sensor.set_auto_gain(False, 10.2374 ) #sensor.set_auto_gain(True)
sensor.skip_frames(time = 300) sensor.skip_frames(time = 300)
clock = time.clock() clock = time.clock()