EmaMaker
/
SPQR-Team-2019-REVAMPED
1
1
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

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

pull/1/head
u-siri-ous 2020-03-02 18:48:50 +01:00
parent 4e0ae43573 74a712121f
commit 8299d82dff
3 changed files with 4 additions and 153 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/position/positionsys_camera.cpp
View File

@ -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);

2
utility/OpenMV/conic_eff.py
View File

@ -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)

149
utility/OpenMV/conic_eff.py.autosave
View File

@ -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)