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camera working

code_midgen
EmaMaker 2020-02-28 16:45:28 +01:00
parent 00f6192255
commit 9afd6bf8b6
4 changed files with 168 additions and 11 deletions
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8
include/positionsys_camera.h
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@ -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;

2
include/vars.h
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@ -1,5 +1,5 @@
#pragma once
#define DEBUG Serial3
#define DEBUG Serial
#define GLOBAL_SPD_MULT 1.0

20
src/positionsys_camera.cpp
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@ -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);
//}
}

149
utility/OpenMV/conic_eff.py.autosave Normal file
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@ -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)