precision shooter

include/motors_movement/drivecontroller.h

@@ -20,7 +20,7 @@
 
 //Max possible vel 310
 
-#define MAX_VEL 125
+#define MAX_VEL 150
 #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)

include/sensors/data_source_camera_conicmirror.h

@@ -22,7 +22,7 @@
 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*/
 #define CAMERA_TRANSLATION_X 0
-#define CAMERA_TRANSLATION_Y 0
+#define CAMERA_TRANSLATION_Y 4
 
 class DataSourceCameraConic : public DataSource{
 

include/strategy_roles/precision_shooter.h

@@ -7,7 +7,7 @@
 #define PS_ATTACK_DISTANCE 110
 #define PS_TILT_STOP_DISTANCE 140
 #define PS_PLUSANG 55
-#define PS_PLUSANG_VISIONCONE 7
+#define PS_PLUSANG_VISIONCONE 10
 
 class PrecisionShooter : public Game{
 

include/systems/lines/linesys_camera.h

@@ -17,7 +17,7 @@
 #define S4O A1
 
 #define LINE_THRESH_CAM 350
-#define EXIT_TIME 400
+#define EXIT_TIME 300
 
 class LineSysCamera : public LineSystem{
 

src/main.cpp

@@ -44,9 +44,12 @@ void setup() {
   tone(BUZZER, 350.00, 250);
 
   drive->prepareDrive(0,0,0);
+
+  pinMode(35, INPUT);
 }
 
 void loop() {
+  DEBUG.println(digitalReadFast(35));
   updateSensors();
 
   drive->resetDrive();
@@ -54,9 +57,9 @@ void loop() {
   striker_condition = role == HIGH || ((Keeper*)keeper)->shouldStrike;
   keeper_condition = role == LOW;
 
-  striker->play(striker_condition);
+  // striker->play(striker_condition);
-  keeper->play(keeper_condition);
+  // keeper->play(keeper_condition);
-  // precision_shooter->play(1);
+  precision_shooter->play(1);
 
   testmenu->testMenu();
 

src/strategy_roles/precision_shooter.cpp

@@ -36,6 +36,8 @@ void PrecisionShooter::realPlay()
 }
 
 unsigned long t3 = 0;
+unsigned long t4 = 0;
+boolean ignited = false;
 
 void PrecisionShooter::striker(){
 
@@ -60,13 +62,21 @@ void PrecisionShooter::striker(){
   if(ball->isInFront()) roller->speed(ROLLER_DEFAULT_SPEED);
   else roller->speed(roller->MIN);
 
-  if(ball->isInFront() && CURRENT_DATA_READ.ballDistance <= 85 &&  CURRENT_DATA_READ.posy >= 32 &&  (CURRENT_DATA_READ.posx >= 15  || CURRENT_DATA_READ.posx <= -15) ) {
+  if(ball->isInFront() && CURRENT_DATA_READ.ballDistance <= 78 && ( (CURRENT_DATA_READ.posy >= 32 &&  (CURRENT_DATA_READ.posx >= 15  || CURRENT_DATA_READ.posx <= -15)) ||  abs(tilt()) > 65 ) ) {
+    // Just let the robot slowly approach the ball
+    if(!ignited){
+      ignited = true;
+      t4 = millis();
+    }
+    if(millis() - t4 > 250  && ignited){
       t3 = millis();
     }
+  }
 
-  if(millis() - t3 < 1000){
+  if(millis() - t3 < 800){
-    roller->speed(1800);
+    roller->speed(roller->MAX);
-    ps->goCenter();
+    drive->prepareDrive(180, MAX_VEL_3QUARTERS, 0);
+    ignited = false;
   }
 
 
@@ -74,7 +84,7 @@ void PrecisionShooter::striker(){
 }
 
 int PrecisionShooter::tilt() {
-  if (ball->isInMouth() /* || (ball->isInMouthMaxDistance() && gotta_tilt)*/ ) gotta_tilt = true;
+  if (ball->isInFront() && CURRENT_DATA_READ.ballDistance <= 90 /* || (ball->isInMouthMaxDistance() && gotta_tilt)*/ ) gotta_tilt = true;
   else gotta_tilt = false;
 
   if(!gotta_tilt || !CURRENT_DATA_READ.atkSeen) {

src/strategy_roles/striker.cpp

@@ -49,13 +49,9 @@ void Striker::striker(){
   dir = (dir + 360) % 360;
   drive->prepareDrive(dir, MAX_VEL_HALF, tilt());
 
-  if(ball->isInFront()) roller->speed(ROLLER_DEFAULT_SPEED);
+  if(ball->isInFront() && roller->roller_armed) roller->speed(ROLLER_DEFAULT_SPEED);
   else roller->speed(roller->MIN);
   
-  // if(ball->isInMouth() && ( (CURRENT_DATA_READ.posx <= -30 && CURRENT_DATA_READ.posy >= 35) || (CURRENT_DATA_READ.posx >= 30 && CURRENT_DATA_READ.posy >= 35))){
-  //   ps->goCenter();
-  // }
-  
 }
 
 int Striker::tilt() {

src/system/positions/positionsys_camera.cpp

@@ -54,7 +54,8 @@ void PositionSysCamera::update(){
     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) ) {
+    //x = 66 is a very very strange bug I can't seem to track down. It's a dirty hack, I know
+    if(posx == 66 || (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;
         do{

utility/OpenMV/conic_eff_h7.py

@@ -45,8 +45,8 @@ blue_led.on()
 ##############################################################################
 
 
-thresholds = [  (66, 88, -12, 26, 50, 79),    # thresholds yellow goalz
+thresholds = [  (70, 100, -36, 8, 38, 112),    # thresholds yellow goalz
-                (40, 61, -9, 19, -61, -21)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+                (46, 65, -18, 19, -59, -15)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 
 roi = (80, 0, 240, 200)
@@ -67,11 +67,11 @@ clock = time.clock()'''
 sensor.reset()
 sensor.set_pixformat(sensor.RGB565)
 sensor.set_framesize(sensor.QVGA)
-sensor.set_windowing(roi)
+#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_whitebal(False, (-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)