edits in camera
EmaMaker
parent
dddbbc1810
commit
b891d8c803
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@ -2,8 +2,10 @@
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#include "position/systems.h"
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#include "position/systems.h"
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#define CAMERA_CENTER_X 10
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#define CAMERA_CENTER_X 0
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#define CAMERA_CENTER_Y -13
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#define CAMERA_CENTER_Y 0
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#define CAMERA_GOAL_X 0
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#define CAMERA_GOAL_Y -13
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#define CAMERA_CENTER_Y_ABS_SUM 72
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#define CAMERA_CENTER_Y_ABS_SUM 72
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//Actually it's ± MAX_VAL
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//Actually it's ± MAX_VAL
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#define MAX_X 25
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#define MAX_X 25
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@ -17,6 +17,7 @@ class DataSourceCameraConic : public DataSource{
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DataSourceCameraConic(HardwareSerial* ser, int baud);
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DataSourceCameraConic(HardwareSerial* ser, int baud);
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void test() override;
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void test() override;
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void readSensor() override;
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void readSensor() override;
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void computeCoordsAngles();
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// int getValueAtk(bool);
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// int getValueAtk(bool);
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// int getValueDef(bool);
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// int getValueDef(bool);
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@ -23,6 +23,8 @@ void loop() {
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goalie->play(role==1);
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goalie->play(role==1);
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keeper->play(role==0);
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keeper->play(role==0);
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camera->test();
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// Last thing to do: movement and update status vector
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// Last thing to do: movement and update status vector
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drive->drivePrepared();
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drive->drivePrepared();
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updateStatusVector();
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updateStatusVector();
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@ -45,81 +45,10 @@ void DataSourceCameraConic ::readSensor() {
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true_yb = yb;
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true_yb = yb;
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true_xy = xy;
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true_xy = xy;
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true_yy = yy;
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true_yy = yy;
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//Where are the goals relative to the robot?
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true_xb = 50 - true_xb;
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true_yb = true_yb - 50;
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true_xy = 50 - true_xy;
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true_yy = true_yy - 50;
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//Remap from [0,100] to [-50, +50] to correctly compute angles and distances and calculate them
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yAngle = 90 - (atan2(true_yy, true_xy) * 180 / 3.14);
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bAngle = 90 - (atan2(true_yb, true_xb) * 180 / 3.14);
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//Now cast angles to [0, 359] domain angle flip them
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yAngle = (yAngle + 360) % 360;
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bAngle = (bAngle + 360) % 360;
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yDist = sqrt((true_yy) * (true_yy) + (true_xy) * (true_xy));
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bDist = sqrt((true_yb) * (true_yb) + (true_xb) * (true_xb));
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//Rotate the point on the cartesian plane to compensate the robot tilt
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// float angleFix = CURRENT_DATA_READ.IMUAngle*IMUTOC_AMULT;
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// angleFix = (angleFix * 3.14) / 180;
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// float angleFix = CURRENT_DATA_READ.IMUAngle*3.14/180;
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// true_xb_fixed = (true_xb*(cos(angleFix))) - (true_yb*(sin(angleFix)));
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// true_yb_fixed = (true_xb*(sin(angleFix))) + (true_yb*(cos(angleFix)));
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// true_xy_fixed = (true_xy*(cos(angleFix))) - (true_yy*(sin(angleFix)));
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// true_yy_fixed = (true_xy*(sin(angleFix))) + (true_yy*(cos(angleFix)));
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int angleFix = CURRENT_DATA_READ.IMUAngle > 180 ? CURRENT_DATA_READ.IMUAngle - 360 : CURRENT_DATA_READ.IMUAngle;
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//Fixes with IMU
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yAngleFix = ((int)((yAngle + angleFix * 0.8)) + 360) % 360;
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bAngleFix = ((int)((bAngle + angleFix * 0.8)) + 360) % 360;
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//Important: update status vector
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CURRENT_INPUT_WRITE.cameraByte = value;
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CURRENT_DATA_WRITE.cam_xb = true_xb;
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CURRENT_DATA_WRITE.cam_yb = true_yb;
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CURRENT_DATA_WRITE.cam_xy = true_xy;
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CURRENT_DATA_WRITE.cam_yy = true_yy;
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CURRENT_DATA_WRITE.cam_xb_fixed = true_xb_fixed;
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CURRENT_DATA_WRITE.cam_yb_fixed = true_yb_fixed;
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CURRENT_DATA_WRITE.cam_xy_fixed = true_xy_fixed;
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CURRENT_DATA_WRITE.cam_yy_fixed = true_yy_fixed;
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CURRENT_DATA_WRITE.yAngle = yAngle;
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CURRENT_DATA_WRITE.bAngle = bAngle;
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CURRENT_DATA_WRITE.yAngleFix = yAngleFix;
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CURRENT_DATA_WRITE.bAngleFix = bAngleFix;
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CURRENT_DATA_WRITE.yDist = yDist;
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CURRENT_DATA_WRITE.bDist = bDist;
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if (xb == unkn || yb == unkn) CURRENT_DATA_WRITE.bSeen = false;
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else CURRENT_DATA_WRITE.bSeen = true;
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if (xy == unkn || yy == unkn) CURRENT_DATA_WRITE.ySeen = false;
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else CURRENT_DATA_WRITE.ySeen = true;
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if (goalOrientation == HIGH) {
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CURRENT_DATA_WRITE.angleAtk = CURRENT_DATA_WRITE.yAngle;
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CURRENT_DATA_WRITE.angleAtkFix = CURRENT_DATA_WRITE.yAngleFix;
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CURRENT_DATA_WRITE.atkSeen = CURRENT_DATA_WRITE.ySeen;
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CURRENT_DATA_WRITE.angleDef = CURRENT_DATA_WRITE.bAngle;
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CURRENT_DATA_WRITE.angleDefFix = CURRENT_DATA_WRITE.bAngleFix;
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CURRENT_DATA_WRITE.defSeen = CURRENT_DATA_WRITE.bSeen;
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} else {
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CURRENT_DATA_WRITE.angleAtk = CURRENT_DATA_WRITE.bAngle;
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CURRENT_DATA_WRITE.angleAtkFix = CURRENT_DATA_WRITE.yAngleFix;
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CURRENT_DATA_WRITE.atkSeen = CURRENT_DATA_WRITE.bSeen;
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CURRENT_DATA_WRITE.angleDef = CURRENT_DATA_WRITE.yAngle;
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CURRENT_DATA_WRITE.angleDefFix = CURRENT_DATA_WRITE.yAngleFix;
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CURRENT_DATA_WRITE.defSeen = CURRENT_DATA_WRITE.ySeen;
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}
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}
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}
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end = true;
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end = true;
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start = false;
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start = false;
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}
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} else{
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else{
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if (start == true)
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if (start == true)
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{
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{
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if (count == 0)
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if (count == 0)
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@ -136,14 +65,80 @@ void DataSourceCameraConic ::readSensor() {
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}
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}
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}
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}
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// int DataSource<CameraConic::getValueAtk(bool fixed){
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// if(fixed) return goalOrientation == HIGH ? yAngleFix : bAngleFix;
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void DataSourceCameraConic ::computeCoordsAngles() {
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// else return goalOrientation == HIGH ? yAngle : bAngle;
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//Where are the goals relative to the robot?
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// }
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//Remap from [0,100] to [-50, +50] to correctly compute angles and distances and calculate them, getting the original coords calculated by the camera
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// int DataSourceCameraConic::getValueDef(bool fixed){
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true_xb = 50 - true_xb;
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// if(fixed) return goalOrientation == LOW ? yAngleFix : bAngleFix;
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true_yb = true_yb - 50;
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// else return goalOrientation == LOW ? yAngle : bAngle;
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true_xy = 50 - true_xy;
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// }>
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true_yy = true_yy - 50;
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yAngle = 90 - (atan2(true_yy, true_xy) * 180 / 3.14);
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bAngle = 90 - (atan2(true_yb, true_xb) * 180 / 3.14);
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//Now cast angles to [0, 359] domain angle flip them
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yAngle = (yAngle + 360) % 360;
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bAngle = (bAngle + 360) % 360;
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yDist = sqrt((true_yy) * (true_yy) + (true_xy) * (true_xy));
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bDist = sqrt((true_yb) * (true_yb) + (true_xb) * (true_xb));
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// int angleFix = CURRENT_DATA_READ.IMUAngle > 180 ? CURRENT_DATA_READ.IMUAngle - 360 : CURRENT_DATA_READ.IMUAngle;
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// //Fixes with IMU
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// yAngleFix = ((int)((yAngle + angleFix * 0.8)) + 360) % 360;
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// bAngleFix = ((int)((bAngle + angleFix * 0.8)) + 360) % 360;
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//Rotate the points of the goals on the cartesian plane to compensate the robot tilt
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int tmp = CURRENT_DATA_READ.IMUAngle > 180 ? CURRENT_DATA_READ.IMUAngle - 360 : CURRENT_DATA_READ.IMUAngle;
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//We are considering the angle being negative if going counterclockwise and positive is going clockwise.
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//The formula used below assumes the angle being positive in counterclockwise and negative in clockwise, so the angle must be multiplied by -1
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//A little explanation of the formula used here can be found on wikipedia: https://en.wikipedia.org/wiki/Rotation_of_axes
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float angleFix = -tmp*3.14/180;
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true_xb_fixed = (true_xb*(cos(angleFix))) - (true_yb*(sin(angleFix)));
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true_yb_fixed = (true_xb*(sin(angleFix))) + (true_yb*(cos(angleFix)));
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true_xy_fixed = (true_xy*(cos(angleFix))) - (true_yy*(sin(angleFix)));
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true_yy_fixed = (true_xy*(sin(angleFix))) + (true_yy*(cos(angleFix)));
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yAngleFix = 90 - (atan2(true_yy_fixed, true_xy_fixed) * 180 / 3.14);
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bAngleFix = 90 - (atan2(true_yb_fixed, true_xb_fixed) * 180 / 3.14);
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//Important: update status vector
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CURRENT_INPUT_WRITE.cameraByte = value;
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CURRENT_DATA_WRITE.cam_xb = true_xb;
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CURRENT_DATA_WRITE.cam_yb = true_yb;
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CURRENT_DATA_WRITE.cam_xy = true_xy;
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CURRENT_DATA_WRITE.cam_yy = true_yy;
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CURRENT_DATA_WRITE.cam_xb_fixed = true_xb_fixed;
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CURRENT_DATA_WRITE.cam_yb_fixed = true_yb_fixed;
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CURRENT_DATA_WRITE.cam_xy_fixed = true_xy_fixed;
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CURRENT_DATA_WRITE.cam_yy_fixed = true_yy_fixed;
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CURRENT_DATA_WRITE.yAngle = yAngle;
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CURRENT_DATA_WRITE.bAngle = bAngle;
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CURRENT_DATA_WRITE.yAngleFix = yAngleFix;
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CURRENT_DATA_WRITE.bAngleFix = bAngleFix;
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CURRENT_DATA_WRITE.yDist = yDist;
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CURRENT_DATA_WRITE.bDist = bDist;
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if (xb == unkn || yb == unkn) CURRENT_DATA_WRITE.bSeen = false;
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else CURRENT_DATA_WRITE.bSeen = true;
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if (xy == unkn || yy == unkn) CURRENT_DATA_WRITE.ySeen = false;
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else CURRENT_DATA_WRITE.ySeen = true;
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if (goalOrientation == HIGH) {
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CURRENT_DATA_WRITE.angleAtk = CURRENT_DATA_WRITE.yAngle;
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CURRENT_DATA_WRITE.angleAtkFix = CURRENT_DATA_WRITE.yAngleFix;
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CURRENT_DATA_WRITE.atkSeen = CURRENT_DATA_WRITE.ySeen;
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CURRENT_DATA_WRITE.angleDef = CURRENT_DATA_WRITE.bAngle;
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CURRENT_DATA_WRITE.angleDefFix = CURRENT_DATA_WRITE.bAngleFix;
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CURRENT_DATA_WRITE.defSeen = CURRENT_DATA_WRITE.bSeen;
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} else {
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CURRENT_DATA_WRITE.angleAtk = CURRENT_DATA_WRITE.bAngle;
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CURRENT_DATA_WRITE.angleAtkFix = CURRENT_DATA_WRITE.yAngleFix;
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CURRENT_DATA_WRITE.atkSeen = CURRENT_DATA_WRITE.bSeen;
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CURRENT_DATA_WRITE.angleDef = CURRENT_DATA_WRITE.yAngle;
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CURRENT_DATA_WRITE.angleDefFix = CURRENT_DATA_WRITE.yAngleFix;
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CURRENT_DATA_WRITE.defSeen = CURRENT_DATA_WRITE.ySeen;
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}
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}
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void DataSourceCameraConic::test(){
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void DataSourceCameraConic::test(){
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goalOrientation = digitalRead(SWITCH_SX); //se HIGH attacco gialla, difendo blu
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goalOrientation = digitalRead(SWITCH_SX); //se HIGH attacco gialla, difendo blu
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@ -84,7 +84,7 @@ while(True):
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tt_blue = [(0,999,0,2)] ## creo una lista di tuple per il blue, valore x = 999 : non trovata
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tt_blue = [(0,999,0,2)] ## creo una lista di tuple per il blue, valore x = 999 : non trovata
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img = sensor.snapshot()
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img = sensor.snapshot()
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for blob in img.find_blobs(thresholds, pixels_threshold=60, area_threshold=90, merge = True):
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for blob in img.find_blobs(thresholds, pixels_threshold=40, area_threshold=50, merge = True):
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img.draw_rectangle(blob.rect())
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img.draw_rectangle(blob.rect())
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img.draw_cross(blob.cx(), blob.cy())
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img.draw_cross(blob.cx(), blob.cy())
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@ -0,0 +1,142 @@
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:10FBF00080648093C00085B1805885B9772081F4F6
|
||||||
|
:10FC0000C15DDE4F0881CF52D1400F5FC15DDE4F35
|
||||||
|
:10FC10000883CF52D14090E0A0E0B0E00D941AF4F8
|
||||||
|
:10FC200027982F9880E090E020ED37E0F901319798
|
||||||
|
:10FC3000F1F7019684369105C9F700008091C00064
|
||||||
|
:10FC40008D7F8093C00081E180935700E895EE2777
|
||||||
|
:10FC5000FF270994FFCF90E00D941AF497FB092E2B
|
||||||
|
:10FC600007260AD077FD04D02ED006D000201AF443
|
||||||
|
:10FC7000709561957F4F0895F6F7909581959F4F08
|
||||||
|
:10FC80000895A1E21A2EAA1BBB1BFD010DC0AA1FDD
|
||||||
|
:10FC9000BB1FEE1FFF1FA217B307E407F50720F0F5
|
||||||
|
:10FCA000A21BB30BE40BF50B661F771F881F991F70
|
||||||
|
:10FCB0001A9469F760957095809590959B01AC01B9
|
||||||
|
:10FCC000BD01CF010895AA1BBB1B51E107C0AA1FAC
|
||||||
|
:10FCD000BB1FA617B70710F0A61BB70B881F991FED
|
||||||
|
:10FCE0005A95A9F780959095BC01CD010895F99991
|
||||||
|
:10FCF000FECF92BD81BDF89A992780B50895262F31
|
||||||
|
:10FD0000F999FECF1FBA92BD81BD20BD0FB6F89400
|
||||||
|
:0EFD1000FA9AF99A0FBE01960895F894FFCF63
|
||||||
|
:040000033000E000E9
|
||||||
|
:00000001FF
|
||||||
|
|
@ -1,56 +1,64 @@
|
||||||
/*
|
/*Author: EmaMaker (emamaker.altervista.org) on 8/3/2020
|
||||||
Example Bluetooth Serial Passthrough Sketch
|
Write and read data from two bluesmirf rn-42 at the same time*/
|
||||||
by: Jim Lindblom
|
#include <SoftwareSerial.h>
|
||||||
SparkFun Electronics
|
|
||||||
date: February 26, 2013
|
int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
|
||||||
license: Public domain
|
int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
|
||||||
|
|
||||||
This example sketch converts an RN-42 bluetooth module to
|
//SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
||||||
communicate at 9600 bps (from 115200), and passes any serial
|
#define bluetooth1 Serial3
|
||||||
data between Serial Monitor and bluetooth module.
|
#define bluetooth2 Serial2
|
||||||
*/
|
|
||||||
#include <SoftwareSerial.h>
|
HardwareSerial* current= nullptr;
|
||||||
|
|
||||||
int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
|
char a = ' ';
|
||||||
int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
|
|
||||||
|
void setup() {
|
||||||
//SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
Serial.begin(9600); // Begin the serial monitor at 9600bps
|
||||||
<<<<<<< HEAD
|
bluetooth1.begin(19200);
|
||||||
=======
|
bluetooth2.begin(19200);
|
||||||
|
}
|
||||||
#define bluetooth Serial3
|
|
||||||
>>>>>>> 5c0171dd181357ae6f20ec98cb5c060f067c30fc
|
void read(HardwareSerial* bluetooth) {
|
||||||
|
while (bluetooth->available()) {
|
||||||
#define bluetooth Serial3
|
if(bluetooth == &bluetooth1){
|
||||||
|
Serial.print("Bluetooth1 Read: ");
|
||||||
void setup() {
|
}else if(bluetooth == &bluetooth2){
|
||||||
Serial.begin(9600); // Begin the serial monitor at 9600bps
|
Serial.print("Bluetooth2 Read: ");
|
||||||
<<<<<<< HEAD
|
}
|
||||||
|
// Send any characters the bluetooth prints to the serial monitor
|
||||||
bluetooth.begin(9600); // Start bluetooth serial at 9600
|
Serial.println((char)bluetooth->read());
|
||||||
=======
|
delay(50);
|
||||||
bluetooth.begin(9600);
|
}
|
||||||
>>>>>>> 5c0171dd181357ae6f20ec98cb5c060f067c30fc
|
}
|
||||||
}
|
|
||||||
|
void write(HardwareSerial* bluetooth) {
|
||||||
void read() {
|
if(a != ' ') {
|
||||||
while (bluetooth.available()) {
|
if(bluetooth == &bluetooth1){
|
||||||
// Send any characters the bluetooth prints to the serial monitor
|
Serial.print("Bluetooth1 Write: ");
|
||||||
Serial.print((char)bluetooth.read());
|
}else if(bluetooth == &bluetooth2){
|
||||||
delay(50);
|
Serial.print("Bluetooth2 Write: ");
|
||||||
}
|
}
|
||||||
}
|
// Send any characters the Serial monitor prints to the bluetooth
|
||||||
|
Serial.println(a);
|
||||||
void write() {
|
bluetooth->print(a);
|
||||||
while (Serial.available()) {
|
a = ' ';
|
||||||
// Send any characters the Serial monitor prints to the bluetooth
|
}
|
||||||
bluetooth.print((char)Serial.read());
|
}
|
||||||
delay(50);
|
|
||||||
}
|
bool b = false;
|
||||||
// and loop forever and ever!
|
void loop() {
|
||||||
}
|
b = !b;
|
||||||
|
|
||||||
void loop() {
|
while(Serial.available() > 0){
|
||||||
read();
|
a = (char)Serial.read();
|
||||||
write();
|
if(a == '-') current = &bluetooth1;
|
||||||
}
|
else if(a == '_') current = &bluetooth2;
|
||||||
|
if(a == '-' || a == '_') a = ' ';
|
||||||
|
}
|
||||||
|
|
||||||
|
if(current != nullptr) write(current);
|
||||||
|
|
||||||
|
read(&bluetooth1);
|
||||||
|
read(&bluetooth2);
|
||||||
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,68 +1,52 @@
|
||||||
/*
|
/*Use this script to reprogram the bluesmirf-rn42 using an arduino microcontroller.
|
||||||
Example Bluetooth Serial Passthrough Sketch
|
Bluesmirf defaults the uart speed to 115200 after factory reset, so a SoftwareSerial may not be ideal for a long use, but it can be used to enter command mode and temp-change the uart speed to 9600 using the SU,9600 command
|
||||||
by: Jim Lindblom
|
First of all it may be useful to reset the BT module to its factory settings, a useful video on how to do it can be found here: https://www.youtube.com/watch?v=8gZNF3bFpzI
|
||||||
SparkFun Electronics
|
Upload a Blink program to the arduino, when the pin is high give power to the module, an instant short-flashing on the status led followed by a couple of seconds of the led being off means that the module has been reset
|
||||||
date: February 26, 2013
|
Now you can connect with this script and setup the BT module:
|
||||||
license: Public domain
|
Enter command mode sending $$ no line ending in serial
|
||||||
|
Give the following commands to setup the bluesmirf as intended for our use
|
||||||
This example sketch converts an RN-42 bluetooth module to
|
Read the manual for further information about the commands used
|
||||||
communicate at 9600 bps (from 115200), and passes any serial
|
SM,2 Trigger mode
|
||||||
data between Serial Monitor and bluetooth module.
|
SA,0 No authentication needed
|
||||||
*/
|
SU,19200 Baud rate to 19200
|
||||||
#include <SoftwareSerial.h>
|
SR, address The address the module has to connect to
|
||||||
|
ST, number Amount of time (in seconds) of inactivity after which the connection is terminated (1 is too low, 3 is used during the tests, 2 should to the thing)
|
||||||
int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
|
|
||||||
int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
|
When trying to connect one bluetooth module with another one, please make sure that the two are powered off with at least 300mS of difference: if they are trying to connect with each other at the same moment, the connection will fail
|
||||||
|
*/
|
||||||
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
|
||||||
|
#include <SoftwareSerial.h>
|
||||||
void setup()
|
|
||||||
{
|
int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
|
||||||
Serial.begin(9600); // Begin the serial monitor at 9600bps
|
int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
|
||||||
|
|
||||||
/*bluetooth.begin(115200); // The Bluetooth Mate defaults to 115200bps
|
//SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
||||||
bluetooth.print("$"); // Print three times individually
|
#define bluetooth Serial3
|
||||||
bluetooth.print("$");
|
|
||||||
bluetooth.print("$"); // Enter command mode
|
void setup() {
|
||||||
delay(100); // Short delay, wait for the Mate to send back CMD
|
Serial.begin(9600); // Begin the serial monitor at 9600bps
|
||||||
bluetooth.println("U,9600,N"); // Temporarily Change the baudrate to 9600, no parity
|
delay(1000);
|
||||||
//115200 can be too fast at times for NewSoftSerial to relay the data reliably*/
|
bluetooth.begin(19200);
|
||||||
|
}
|
||||||
delay(1000);
|
|
||||||
|
void read() {
|
||||||
bluetooth.begin(9600); // Start bluetooth serial at 9600
|
while (bluetooth.available()) {
|
||||||
bluetooth.print("$"); // Print three times individually
|
// Send any characters the bluetooth pri$$$nts to the serial monitor
|
||||||
bluetooth.print("$");
|
Serial.print((char)bluetooth.read());
|
||||||
bluetooth.print("$");
|
}
|
||||||
read();
|
}
|
||||||
delay(1000);
|
|
||||||
bluetooth.println("SA,0");
|
void write() {
|
||||||
read();
|
while (Serial.available()) {
|
||||||
bluetooth.println("SM,6");
|
// Send any characters the Serial monitor prints to the bluetooth
|
||||||
read();
|
char a = (char)Serial.read();
|
||||||
delay(1000);
|
bluetooth.print(a);
|
||||||
bluetooth.println("C");
|
Serial.print(a);
|
||||||
read();
|
}
|
||||||
}
|
// and loop forever and ever!
|
||||||
|
}
|
||||||
void read() {
|
|
||||||
while (bluetooth.available()) {
|
void loop() {
|
||||||
// Send any characters the bluetooth prints to the serial monitor
|
read();
|
||||||
Serial.print((char)bluetooth.read());
|
write();
|
||||||
delay(50);
|
}
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void write() {
|
|
||||||
while (Serial.available()) {
|
|
||||||
// Send any characters the Serial monitor prints to the bluetooth
|
|
||||||
bluetooth.print((char)Serial.read());
|
|
||||||
delay(50);
|
|
||||||
}
|
|
||||||
// and loop forever and ever!
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop() {
|
|
||||||
bluetooth.write(42);
|
|
||||||
delay(500);
|
|
||||||
}
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue