reorder files into system folders

also rename Goalie to Striker because GRAMMAR

(Goalie actually means keeper but we always intended it as a striker :D)

include/behaviour_control/status_vector.h

@@ -1,7 +1,7 @@
 #pragma once
 #include <Arduino.h>
 #include "strategy_roles/game.h"
-#include "position/systems.h"
+#include "systems/systems.h"
 
 /**
  * STATUS VECTOR:

include/sensors/sensors.h

@@ -12,10 +12,10 @@
 #include "behaviour_control/ds_ctrl.h"
 #include "motors_movement/drivecontroller.h"
 #include "motors_movement/motor.h"
-#include "sensors/linesys_2019.h"
-#include "sensors/linesys_camera.h"
-#include "position/positionsys_zone.h"
-#include "position/systems.h"
+#include "systems/lines/linesys_2019.h"
+#include "systems/lines/linesys_camera.h"
+#include "systems/position/positionsys_zone.h"
+#include "systems/systems.h"
 #include "sensors/data_source_ball.h"
 #include "sensors/data_source_bt.h"
 #include "sensors/data_source_bno055.h"

include/strategy_roles/game.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "vars.h"
-#include "position/systems.h"
+#include "systems/systems.h"
 #include "sensors/sensors.h"
 
 class Game {

include/strategy_roles/games.h

@@ -8,10 +8,10 @@
 
 #include <Arduino.h>
 #include "strategy_roles/game.h"
-#include "strategy_roles/goalie.h"
+#include "strategy_roles/striker.h"
 #include "strategy_roles/keeper.h"
 
 void initGames();
 
-g_extr Game* goalie;
+g_extr Game* striker;
 g_extr Game* keeper;

include/strategy_roles/striker.h

@@ -19,16 +19,16 @@
 #define GOALIE_ATKDIR_PLUSANG2_COR 70
 #define GOALIE_ATKDIR_PLUSANG3_COR 70
 
-class Goalie : public Game, public PositionSysZone{
+class Striker : public Game, public PositionSysZone{
 
     public:
-        Goalie();
-        Goalie(LineSystem* ls, PositionSystem* ps);
+        Striker();
+        Striker(LineSystem* ls, PositionSystem* ps);
 
     private:
         void realPlay() override;
         void init() override;
-        void goalie();
+        void striker();
         void ballBack(); 
         void storcimentoPorta();
 

include/systems/lines/linesys_2019.h

@@ -3,7 +3,7 @@
 #include <Arduino.h>
 
 #include "behaviour_control/ds_ctrl.h"
-#include "position/systems.h"
+#include "systems/systems.h"
 
 #include "vars.h" 
 

include/systems/lines/linesys_camera.h

@@ -3,7 +3,7 @@
 #include <Arduino.h>
 
 #include "behaviour_control/ds_ctrl.h"
-#include "position/systems.h"
+#include "systems/systems.h"
 
 #include "vars.h" 
 

include/systems/position/positionsys_camera.h

@@ -1,12 +1,12 @@
 #include "PID_v2.h"
 
-#include "position/systems.h"
+#include "systems/systems.h"
 
 //Note: those variables can be changes, and will need to change depending on camera calibration
 
 //Camera center: those setpoints correspond to the center of the field
-#define CAMERA_CENTER_X 1
-#define CAMERA_CENTER_Y -10
+#define CAMERA_CENTER_X -5
+#define CAMERA_CENTER_Y -17
 
 //Camera goal: those setpoints correspond to the position of the center of the goal on the field
 #define CAMERA_GOAL_X 0

include/systems/position/positionsys_zone.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "position/systems.h"
+#include "systems/systems.h"
 
 //POSITION
 #define CENTERGOALPOST_VEL1 220

src/main.cpp

@@ -3,7 +3,6 @@
 #define VARS
 
 #include "behaviour_control/status_vector.h"
-#include "position/positionsys_zone.h"
 #include "sensors/sensors.h"
 #include "strategy_roles/games.h"
 #include "vars.h"
@@ -33,7 +32,7 @@ void loop() {
   updateSensors();
   if(DEBUG.available()) testmenu->testMenu();
   
-  goalie->play(role==1);
+  striker->play(role==1);
   keeper->play(role==0);
 
   // Last thing to do: movement and update status vector

src/strategy_roles/game.cpp

@@ -1,6 +1,6 @@
 #include "behaviour_control/status_vector.h"
 #include "strategy_roles/game.h"
-#include "position/positionsys_camera.h"
+#include "systems/position/positionsys_camera.h"
 
 Game::Game() {}
 Game::Game(LineSystem* ls_, PositionSystem* ps_) {

src/strategy_roles/games.cpp

@@ -1,15 +1,15 @@
 #define GAMES_CPP
 
 /* #include "sensors/linesys_2019.h" */
-#include "sensors/linesys_camera.h"
-#include "position/positionsys_zone.h"
-#include "position/positionsys_camera.h"
+#include "systems/lines/linesys_camera.h"
+#include "systems/position/positionsys_zone.h"
+#include "systems/position/positionsys_camera.h"
 #include "strategy_roles/games.h"
 
 void initGames(){
     vector<DataSource*> lIn = { new DataSource(S1I, true), new DataSource(S2I, true), new DataSource(S3I, true), new DataSource(S4I, true) };
     vector<DataSource*> lOut = { new DataSource(S1O, true), new DataSource(S2O, true), new DataSource(S3O, true), new DataSource(S4O, true) };
 
-    goalie = new Goalie(new LineSysCamera(lIn, lOut), new PositionSysCamera());
+    striker = new Striker(new LineSysCamera(lIn, lOut), new PositionSysCamera());
     keeper = new Keeper(new LineSysCamera(lOut, lOut), new PositionSysCamera());
 }

src/strategy_roles/keeper.cpp

@@ -1,11 +1,11 @@
 #include <Arduino.h>
 
 #include "behaviour_control/status_vector.h"
-#include "sensors/linesys_2019.h"
+#include "systems/lines/linesys_2019.h"
 #include "sensors/sensors.h"
 #include "strategy_roles/keeper.h"
 #include "strategy_roles/games.h"
-#include "position/positionsys_camera.h"
+#include "systems/position/positionsys_camera.h"
 
 
 Keeper::Keeper() : Game() {
@@ -36,7 +36,7 @@ void Keeper::keeper() {
 
     if(ball->distance > KEEPER_ATTACK_DISTANCE){
         // Ball is quite near
-        goalie->play();
+        striker->play();
         if(!this->ls->tookLine){
             keeperAttackTimer = 0;
             keeper_tookTimer = true;

src/strategy_roles/striker.cpp

@@ -1,32 +1,32 @@
 #include "behaviour_control/status_vector.h"
-#include "position/positionsys_camera.h"
+#include "systems/position/positionsys_camera.h"
 #include "sensors/sensors.h"
-#include "strategy_roles/goalie.h"
+#include "strategy_roles/striker.h"
 #include "vars.h"
 
 #include "math.h"
 
 
-Goalie::Goalie() : Game() {
+Striker::Striker() : Game() {
   init();
 }
 
-Goalie::Goalie(LineSystem* ls_, PositionSystem* ps_) : Game(ls_, ps_) {
+Striker::Striker(LineSystem* ls_, PositionSystem* ps_) : Game(ls_, ps_) {
   init();
 }
 
-void Goalie::init(){
+void Striker::init(){
     atk_speed = 0;
     atk_direction = 0;
     cstorc = 0;
 }
 
-void Goalie::realPlay(){
-  if(CURRENT_DATA_READ.ballSeen) this->goalie();
+void Striker::realPlay(){
+  if(CURRENT_DATA_READ.ballSeen) this->striker();
   else ((PositionSysCamera*)ps)->goCenter();
 }
 
-void Goalie::goalie() {
+void Striker::striker() {
   if(CURRENT_DATA_READ.ballAngle>= 350 || CURRENT_DATA_READ.ballAngle<= 20)  {
     if(CURRENT_DATA_READ.ballDistance > 190) atk_direction = 0;
     else atk_direction = CURRENT_DATA_READ.ballAngle;
@@ -73,7 +73,7 @@ void Goalie::goalie() {
 
 
 
-void Goalie::ballBack() {
+void Striker::ballBack() {
   int ball_degrees2;
   int dir;
 
@@ -91,7 +91,7 @@ void Goalie::ballBack() {
 }
 
 
-void Goalie::storcimentoPorta() {
+void Striker::storcimentoPorta() {
   if (CURRENT_DATA_READ.angleAtkFix >= 5 && CURRENT_DATA_READ.angleAtkFix <= 60) cstorc+=9;
   else if (CURRENT_DATA_READ.angleAtkFix  <= 355 && CURRENT_DATA_READ.angleAtkFix >= 210) cstorc-=9;
   else cstorc *= 0.9;

src/system/lines/linesys_2019.cpp

@@ -1,4 +1,4 @@
-#include "sensors/linesys_2019.h"
+#include "systems/lines/linesys_2019.h"
 #include "sensors/sensors.h"
 
 using namespace std;

src/system/lines/linesys_camera.cpp

@@ -1,5 +1,5 @@
-#include "sensors/linesys_camera.h"
-#include "position/positionsys_camera.h"
+#include "systems/lines/linesys_camera.h"
+#include "systems/position/positionsys_camera.h"
 #include "sensors/sensors.h"
 #include "strategy_roles/games.h"
 
@@ -78,7 +78,7 @@ void LineSysCamera::outOfBounds(){
   }
 
   if (exitTimer <= EXTIME){
-    ((PositionSysCamera*)goalie->ps)->goCenter();
+    ((PositionSysCamera*)striker->ps)->goCenter();
     tookLine = true;
   }else{
     drive->canUnlock = true;

src/system/positions/positionsys_camera.cpp

@@ -1,5 +1,5 @@
 #include "behaviour_control/status_vector.h"
-#include "position/positionsys_camera.h"
+#include "systems/position/positionsys_camera.h"
 #include "sensors/sensors.h"
 #include "vars.h"
 

src/system/positions/positionsys_zone.cpp

@@ -1,5 +1,5 @@
 #include "behaviour_control/status_vector.h"
-#include "position/positionsys_zone.h"
+#include "systems/position/positionsys_zone.h"
 #include "sensors/sensors.h"
 #include "vars.h"
 

src/test_menu.cpp

@@ -3,12 +3,12 @@
 #include "sensors/data_source_bno055.h"
 #include "sensors/data_source_bt.h"
 #include "sensors/data_source_camera_conicmirror.h"
-#include "sensors/linesys_camera.h"
-#include "sensors/linesys_2019.h"
+#include "systems/lines/linesys_camera.h"
+#include "systems/lines/linesys_2019.h"
 #include "sensors/sensors.h"
 #include "motors_movement/motor.h"
 #include "motors_movement/drivecontroller.h"
-#include "position/positionsys_camera.h"
+#include "systems/position/positionsys_camera.h"
 #include "strategy_roles/game.h"
 #include "strategy_roles/games.h"
 #include "behaviour_control/data_source.h"
@@ -91,7 +91,7 @@ void TestMenu :: testMenu(){
                 currentRole = DEBUG.read();
                 switch(currentRole){
                     case '1':
-                        (goalie->ls)->test();
+                        (striker->ls)->test();
                     break;
                     case '2':
                         (keeper->ls)->test();

utility/OpenMV/conic_eff.py

@@ -38,8 +38,8 @@ blue_led.on()
 ##############################################################################
 
 
-thresholds = [  (58, 97, 9, 45, 51, 92),    # thresholds yellow goal
-                (12, 30, -25, 1, -49, -2)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+thresholds = [  (71, 100, -24, 12, 57, 99),    # thresholds yellow goal
+                (38, 55, -33, -1, 0, 26)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 roi = (0, 6, 318, 152)
 
@@ -64,8 +64,8 @@ sensor.set_saturation(3)
 sensor.set_brightness(0)
 sensor.set_quality(0)
 sensor.set_auto_whitebal(False)
-sensor.set_auto_exposure(False, 4500)
-sensor.set_auto_gain(False, 15)
+sensor.set_auto_exposure(False, 5500)
+sensor.set_auto_gain(True)
 sensor.skip_frames(time = 300)
 
 clock = time.clock()

utility/OpenMV/conic_eff.py.autosave

@@ -0,0 +1,149 @@
+# 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 = [  (71, 100, -24, 12, 57, 99),    # thresholds yellow goal
+                (38, 55, -33, -1, 0, 26)]  # 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(3)
+sensor.set_saturation(3)
+sensor.set_brightness(0)
+sensor.set_quality(0)
+sensor.set_auto_whitebal(False)
+sensor.set_auto_exposure(False, 5500)
+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=50, area_threshold=50, 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)
+