Merge branch 'master' of https://github.com/EmaMaker/SPQR1-2020

src/position/positionsys_camera.cpp

@@ -52,12 +52,12 @@ void PositionSysCamera :: setCameraPID(){
     Outputy = 0;
     Setpointy = 0;
     
-    X = new PID(&Inputx, &Outputx, &Setpointx, Kpx, Kix, Kdx, DIRECT);
+    X = new PID(&Inputx, &Outputx, &Setpointx, Kpx, Kix, Kdx, REVERSE);
     X->SetOutputLimits(-50,50);
     X->SetMode(AUTOMATIC);
     X->SetDerivativeLag(1);
     X->SetSampleTime(2);
-    Y = new PID(&Inputy, &Outputy, &Setpointy, Kpy, Kiy, Kdy, DIRECT);
+    Y = new PID(&Inputy, &Outputy, &Setpointy, Kpy, Kiy, Kdy, REVERSE);
     Y->SetOutputLimits(-50,50);
     Y->SetMode(AUTOMATIC);
     Y->SetDerivativeLag(1);
@@ -102,7 +102,7 @@ void PositionSysCamera :: CameraPID(){
     /*if(abs(Outputx) <= 1 && abs(Outputy) <= 1){
         drive->prepareDrive(0,0,0);
     }else{*/
-        int dir = -90-(atan2(-Outputy,-Outputx)*180/3.14);
+        int dir = -90-(atan2(Outputy,Outputx)*180/3.14);
         dir = (dir+360) % 360;
 
         int dist = sqrt(Outputx*Outputx + Outputy*Outputy);

utility/OpenMV/conic_eff.py

@@ -39,7 +39,7 @@ blue_led.on()
 
 
 thresholds = [  (50, 98, -2, 30, 57, 113),    # thresholds yellow goal
-                (17, 30, -28, -8, -8, 12)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+                (22, 45, -32, -6, -16, 10)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 roi = (0, 6, 318, 152)
 

utility/OpenMV/conic_eff.py.autosave

@@ -1,149 +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)
-
-
-# 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 = [ (21, 100, -53, 53, 59, 101),    # thresholds yellow goal
-              (29, 50, -48, 35, -56, 5)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
-
-roi = (0, 6, 318, 152)
-
-# Camera Setup ###############################################################
-'''sensor.reset()
-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.QQVGA)
-sensor.set_contrast(2)
-sensor.set_saturation(1)
-sensor.set_brightness(1)
-sensor.set_quality(3)
-sensor.set_auto_whitebal(False)
-sensor.set_auto_exposure(False, 4500)
-sensor.set_auto_gain(True)
-sensor.skip_frames(time = 300)
-
-clock = time.clock()
-##############################################################################
-
-
-while(True):
-    clock.tick()
-
-    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=60, area_threshold=90, 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)
-
-    y_area, y1_cx, y1_cy, y_code = tt_yellow[ny-1]
-    b_area, b1_cx, b1_cy, b_code = tt_blue[nb-1]
-
-    y_cx = int(img.width() / 2 - y1_cx)
-    y_cy = int(img.height() / 2 - y1_cy)
-    b_cx = int(img.width() / 2 - b1_cx)
-    b_cy = int(img.height() / 2 - b1_cy)
-
-    #Normalize data between 0 and 100
-    if y_found == True:
-        y_cx = val_map(y_cx, -img.width() / 2, img.width() / 2, 100, 0)
-        y_cy = val_map(y_cy, -img.height() / 2, img.height() / 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
-
-    if b_found == True:
-        b_cx = val_map(b_cx, -img.width() / 2, img.width() / 2, 100, 0)
-        b_cy = val_map(b_cy, -img.height() / 2, img.height() / 2, 0, 100)
-
-        #Prepare for send as a list of characters
-        s_bcx = chr(b_cx)
-        s_bcy = chr(b_cy)
-    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)
-