From 9afd6bf8b6d601758adc46393c3cac144402e8f6 Mon Sep 17 00:00:00 2001 From: EmaMaker Date: Fri, 28 Feb 2020 16:45:28 +0100 Subject: [PATCH] camera working --- include/positionsys_camera.h | 8 +- include/vars.h | 2 +- src/positionsys_camera.cpp | 20 ++-- utility/OpenMV/conic_eff.py.autosave | 149 +++++++++++++++++++++++++++ 4 files changed, 168 insertions(+), 11 deletions(-) create mode 100644 utility/OpenMV/conic_eff.py.autosave diff --git a/include/positionsys_camera.h b/include/positionsys_camera.h index 9fb8cc6..962dfbf 100644 --- a/include/positionsys_camera.h +++ b/include/positionsys_camera.h @@ -2,8 +2,12 @@ #include "systems.h" #define CAMERA_CENTER_X 0 -#define CAMERA_CENTER_Y -13 +#define CAMERA_CENTER_Y -18 #define CAMERA_CENTER_Y_ABS_SUM 72 +//Actually it's ± MAX_VAL +#define MAX_X 25 +#define MAX_Y (CAMERA_CENTER_Y_ABS_SUM/2) +#define DIST_MULT 1.65 #define Kpx 1 #define Kix 0 @@ -24,7 +28,7 @@ class PositionSysCamera : public PositionSystem{ int calcOtherGoalY(int goalY); double Inputx, Outputx, Setpointx, Inputy, Outputy, Setpointy; - + int MAX_DIST; PID* X; PID* Y; diff --git a/include/vars.h b/include/vars.h index 4c4e00f..3c31965 100755 --- a/include/vars.h +++ b/include/vars.h @@ -1,5 +1,5 @@ #pragma once -#define DEBUG Serial3 +#define DEBUG Serial #define GLOBAL_SPD_MULT 1.0 diff --git a/src/positionsys_camera.cpp b/src/positionsys_camera.cpp index 17b6fa2..2da1996 100644 --- a/src/positionsys_camera.cpp +++ b/src/positionsys_camera.cpp @@ -27,7 +27,7 @@ void PositionSysCamera::goCenter(){ /*MAKING A SINGLE LINE HERE, DOESN'T WORK FOR NOW*/ /* int x = 1; int y = 1; - + ; //Trying using an angle if(CURRENT_DATA_READ.bSeen == true && CURRENT_DATA_READ.ySeen == true){ if((CURRENT_DATA_READ.cam_yy) > CAMERA_CENTER_Y || (CURRENT_DATA_READ.cam_yb + CURRENT_DATA_READ.cam_yy) < -CAMERA_CENTER_Y) @@ -44,6 +44,7 @@ void PositionSysCamera::goCenter(){ //using a pid controller for the movement, or trying at least void PositionSysCamera :: setCameraPID(){ + MAX_DIST = sqrt(MAX_X*MAX_X + MAX_Y*MAX_Y); Inputx = 0; Outputx = 0; Setpointx = 0; @@ -65,7 +66,7 @@ void PositionSysCamera :: setCameraPID(){ /*Knowing the sum of the absolute values of the y position of the goals, it calculates the missing goal y knowing the other one We know the sum of the absolute values is a fixed number. -By subtracting the absolute value of the goal y we know to the sum of the absolute values, we get the absolute value of the missing goal y +By♦ subtracting the absolute value of the goal y we know to the sum of the absolute values, we get the absolute value of the missing goal y The sign of the goal y we found is simply the reverse of the one we got */ int PositionSysCamera::calcOtherGoalY(int goalY){ @@ -86,11 +87,10 @@ void PositionSysCamera :: CameraPID(){ Inputy = CURRENT_DATA_READ.cam_yy + calcOtherGoalY(CURRENT_DATA_READ.cam_yy); //Setpointy todo }else{ - + //TODO: no goal seen } Setpointx = CAMERA_CENTER_X; Setpointy = CAMERA_CENTER_Y; - //TODO: no goal seen X->Compute(); Y->Compute(); @@ -99,11 +99,15 @@ void PositionSysCamera :: CameraPID(){ // DEBUG.print(" "); // DEBUG.println(calcOtherGoalY(CURRENT_DATA_READ.cam_yb)); - if(abs(Outputx) <= 1 && abs(Outputy) <= 1){ + /*if(abs(Outputx) <= 1 && abs(Outputy) <= 1){ drive->prepareDrive(0,0,0); - }else{ + }else{*/ int dir = -90-(atan2(-Outputy,-Outputx)*180/3.14); dir = (dir+360) % 360; - drive->prepareDrive(dir, 100, 0); - } + + int dist = sqrt(Outputx*Outputx + Outputy*Outputy); + int speed = map(dist*DIST_MULT, 0, MAX_DIST, 0, 350); + drive->prepareDrive(dir, speed, 0); + //DEBUG.println(dir); + //} } \ No newline at end of file diff --git a/utility/OpenMV/conic_eff.py.autosave b/utility/OpenMV/conic_eff.py.autosave new file mode 100644 index 0000000..c91d697 --- /dev/null +++ b/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 = [ (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) +