a bit of recalibration for everything for the presentation game

include/position/positionsys_camera.h

@@ -2,10 +2,16 @@
 
 #include "position/systems.h"
 
-#define CAMERA_CENTER_X 0
+//Note: those variables can be changes, and will need to change depending on camera calibration
-#define CAMERA_CENTER_Y 0
+
+//Camera center: those setpoints correspond to the center of the field
+#define CAMERA_CENTER_X 1
+#define CAMERA_CENTER_Y -10
+
+//Camera goal: those setpoints correspond to the position of the center of the goal on the field
 #define CAMERA_GOAL_X 0
-#define CAMERA_GOAL_Y -13
+#define CAMERA_GOAL_Y -20
+
 #define CAMERA_CENTER_Y_ABS_SUM 72
 //Actually it's ± MAX_VAL
 #define MAX_X 25

include/sensors/linesys_camera.h

@@ -17,7 +17,7 @@
 #define S4O A2
 
 #define LINE_THRESH_CAM 90
-#define EXIT_TIME 100
+#define EXIT_TIME 125
 #define LINES_EXIT_SPD 350
 
 class LineSysCamera : public LineSystem{

include/sensors/linesys_camera_new.h

@@ -0,0 +1,40 @@
+// #pragma once
+
+// #include <Arduino.h>
+
+// #include "behaviour_control/ds_ctrl.h"
+// #include "position/systems.h"
+
+// #include "vars.h" 
+
+// #define S1I A14
+// #define S1O A15
+// #define S2I A16
+// #define S2O A17
+// #define S3I A20
+// #define S3O A0
+// #define S4I A1
+// #define S4O A2
+
+// #define LINE_THRESH_CAM 90
+// #define EXTIME_CAM 75
+// #define LINES_EXIT_SPD_CAM 300
+
+// class LineSysCamera : public LineSystem{
+
+//     public:
+//         LineSysCamera();
+//         LineSysCamera(vector<DataSource*> in_, vector<DataSource*> out);
+
+//         void update() override;
+//         void test() override;
+//         void outOfBounds();
+        
+//     private:
+//         vector<DataSource*> in, out;
+//         DataSource* ds;
+//         bool fboundsX, fboundsY, fboundsOX, fboundsOY, slow;
+//         int inV, outV, linesensOldX, linesensOldY, value, linetriggerI[4], linetriggerO[4], i;
+//         unsigned long exitTimer;
+//         byte linesens;
+// };

include/strategy_roles/goalie.h

@@ -5,7 +5,7 @@
 #include "strategy_roles/game.h"
 
 #define TILT_MULT 1.8
-#define TILT_DIST 180
+#define TILT_DIST 170
 #define CATCH_DIST 150
 #define GOALIE_ATKSPD_LAT  320 //255
 #define GOALIE_ATKSPD_BAK  350

src/sensors/linesys_camera_new.cpp

@@ -0,0 +1,116 @@
+// #include "sensors/linesys_camera.h"
+// #include "position/positionsys_camera.h"
+// #include "sensors/sensors.h"
+// #include "strategy_roles/games.h"
+
+// using namespace std;
+// LineSysCamera::LineSysCamera() {}
+// LineSysCamera::LineSysCamera(vector<DataSource*> in_, vector<DataSource*> out_){
+//     this->in = in_;
+//     this->out = out_;
+
+//     fboundsX = false;
+//     fboundsY = false;
+//     slow = false;
+
+//     linesensOldX = 0;
+//     linesensOldY = 0;
+
+//     tookLine = false;
+
+//     for(int i = 0; i < 4; i++){
+//       linetriggerI[i] = 0;
+//       linetriggerO[i] = 0;
+//     }
+
+//     exitTimer = 0;
+//     linesens = 0;
+// }
+
+// void LineSysCamera::update(){
+//   inV = 0;
+//   outV = 0;
+//   tookLine = false;
+
+//   for(DataSource* d : in) d->readSensor();
+//   for(DataSource* d : out) d->readSensor();
+
+//   for(auto it = in.begin(); it != in.end(); it++){
+//     i = it - in.begin();
+//     ds = *it;
+//     linetriggerI[i] = ds->getValue() > LINE_THRESH_CAM;
+//   }
+//   for(auto it = out.begin(); it != out.end(); it++){
+//     i = it - out.begin();
+//     ds = *it;
+//     linetriggerO[i] = ds->getValue() > LINE_THRESH_CAM;
+//   }
+
+//   for(int i = 0; i < 4; i++){
+//     inV = inV | (linetriggerI[i] << i);
+//     outV = outV | (linetriggerO[i] << i);
+//   }
+
+
+//   if ((inV > 0) || (outV > 0)) {
+//     if(millis() - exitTimer > EXTIME_CAM) {
+//       fboundsX = true;
+//       fboundsY = true;
+//     }
+//     exitTimer = millis();
+//   }
+
+//   linesens |= inV | outV;
+//   outOfBounds();
+// }
+
+// void LineSysCamera::outOfBounds(){
+
+//   if(fboundsX == true) {
+//     if(linesens & 0x02) linesensOldX = 2;
+//     else if(linesens & 0x08) linesensOldX = 8;
+//     if(linesensOldX != 0) fboundsX = false;
+//   }
+//   if(fboundsY == true) {
+//     if(linesens & 0x01) linesensOldY = 1;
+//     else if(linesens & 0x04) linesensOldY = 4;
+//     if(linesensOldY != 0) fboundsY = false;
+//   }
+
+//   if (millis() - exitTimer <= EXTIME_CAM){
+//     if(linesens > 0) ((PositionSysCamera*)goalie->ps)->goCenter();
+
+//     tookLine = true;
+//   }else{
+//     linesens = 0;
+//     linesensOldY = 0;
+//     linesensOldX = 0;
+//   }
+// }
+
+// void LineSysCamera::test(){
+//   update();
+//   DEBUG.print("In: ");
+//   for(DataSource* d : in){
+//       d->update();
+//       DEBUG.print(d->getValue());
+//       DEBUG.print(" | ");
+//   }
+//   DEBUG.print(" |---| ");
+//   DEBUG.print("Out: ");
+//   for(DataSource* d : out){
+//       d->update();
+//       DEBUG.print(d->getValue());
+//       DEBUG.print(" | ");
+//   }
+//   DEBUG.println();
+//   for(int i = 0; i < 4; i++){
+//     DEBUG.print(linetriggerI[i]);
+//     DEBUG.print(" | ");
+//     DEBUG.println(linetriggerO[i]);
+//   }
+
+//   DEBUG.println(inV);
+//   DEBUG.println(outV);
+//   DEBUG.println();
+// }

src/strategy_roles/keeper.cpp

@@ -5,6 +5,7 @@
 #include "sensors/sensors.h"
 #include "strategy_roles/keeper.h"
 #include "strategy_roles/games.h"
+#include "position/positionsys_camera.h"
 
 
 Keeper::Keeper() : Game() {
@@ -28,7 +29,7 @@ void Keeper::init(){
 
 void Keeper::realPlay() {
     if(ball->ballSeen) keeper();
-    else drive->prepareDrive(0,0,0);
+    else ((PositionSysCamera*)ps)->centerGoal();
 }
 
 void Keeper::keeper() {

utility/OpenMV/conic_eff.py

@@ -38,8 +38,8 @@ blue_led.on()
 ##############################################################################
 
 
-thresholds = [  (50, 98, -2, 30, 57, 113),    # thresholds yellow goal
+thresholds = [  (58, 97, 9, 45, 51, 92),    # thresholds yellow goal
-                (22, 45, -32, -6, -16, 10)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+                (12, 30, -25, 1, -49, -2)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 roi = (0, 6, 318, 152)
 
@@ -59,13 +59,13 @@ clock = time.clock()'''
 sensor.reset()
 sensor.set_pixformat(sensor.RGB565)
 sensor.set_framesize(sensor.QQVGA)
-sensor.set_contrast(1)
+sensor.set_contrast(3)
-sensor.set_saturation(1)
+sensor.set_saturation(3)
 sensor.set_brightness(0)
 sensor.set_quality(0)
 sensor.set_auto_whitebal(False)
-sensor.set_auto_exposure(False, 6500)
+sensor.set_auto_exposure(False, 4500)
-sensor.set_auto_gain(True)
+sensor.set_auto_gain(False, 15)
 sensor.skip_frames(time = 300)
 
 clock = time.clock()
@@ -84,7 +84,7 @@ while(True):
     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=40, area_threshold=50, merge = True):
+    for blob in img.find_blobs(thresholds, pixels_threshold=30, area_threshold=40, merge = True):
         img.draw_rectangle(blob.rect())
         img.draw_cross(blob.cx(), blob.cy())