EmaMaker
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SPQR-Team1-2020
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storcimento kinda working

code_midgen
u-siri-ous 2020-02-03 18:59:44 +01:00
parent 73299bc6c4
commit c3ebf4913f
4 changed files with 13 additions and 15 deletions
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4
src/goalie.cpp
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@ -45,8 +45,8 @@ void Goalie::goalie(int plusang) {
}
void Goalie::storcimentoPorta() {
if (camera->getValueAtk(false) >= 10 && camera->getValueAtk(false) <= 90) cstorc+=9;
else if (camera->getValueAtk(false) <= 350 && camera->getValueAtk(false) >= 270) cstorc-=9;
if (camera->getValueAtk(true ) >= 10 && camera->getValueAtk(true) <= 90) cstorc+=9;
else if (camera->getValueAtk(true) <= 350 && camera->getValueAtk(true) >= 270) cstorc-=9;
// else cstorc *= 0.7;
cstorc = constrain(cstorc, -45, 45);
}

2
src/main.cpp
View File

@ -16,8 +16,6 @@ void setup() {
void loop() {
updateSensors();
camera->test();
// compass->test();
goalie->play(role==1);
keeper->play(role==0);

4
utility/OpenMV/conic_eff.py
View File

@ -39,8 +39,8 @@ blue_led.on()
thresholds = [ (49, 99, -24, 17, 23, 64), # thresholds yellow goal
(-128,-128,-128,-128,-128,-128)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
thresholds = [ (30, 70, -12, 19, 10, 57), # thresholds yellow goal
(0, 31, -2, 39, -68, -25)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
roi = (0, 6, 318, 152)

18
utility/OpenMV/main_test_conic.py
View File

@ -29,8 +29,8 @@ blue_led.on()
#thresholds = [ (54, 93, -10, 25, 55, 70), # thresholds yellow goal
# (30, 45, 1, 40, -60, -19)] # thresholds blue goal
#
thresholds = [ (55, 98, -14, 12, 7, 55), # thresholds yellow goal
(20, 51, -23, 26, -69, -31)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
thresholds = [ (30, 70, -12, 19, 41, 68) , # thresholds yellow goal
(0, 70, -2, 34, -59, -21)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
roi = (0, 6, 318, 152)
@ -50,11 +50,11 @@ clock = time.clock()'''
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_contrast(+0)
sensor.set_saturation(+0)
sensor.set_brightness(0)
sensor.set_contrast(+2)
sensor.set_saturation(+1)
sensor.set_brightness(-2)
sensor.set_quality(0)
sensor.set_auto_exposure(False, 8000)
sensor.set_auto_exposure(False, 6000)
sensor.set_auto_gain(True)
sensor.skip_frames(time = 300)
@ -79,7 +79,7 @@ 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=75, area_threshold=100, merge = True):
for blob in img.find_blobs(thresholds, pixels_threshold=150, area_threshold=150, merge = True):
img.draw_rectangle(blob.rect())
img.draw_cross(blob.cx(), blob.cy())
@ -100,7 +100,7 @@ while(True):
cy = img.height() / 2 - cy
angle = math.pi/2 - math.atan2(cy, cx)
dist = math.sqrt(cx*cx + cy*cy)
string_yellow = "Y"+str(cx)+" | "+str(cy)+" | "+str(angle)+" | "+str(dist)+"y"
string_yellow = "Y"+str(cx)+" | "+str(cy)+" | "+str(angle)+" | "+str(dist)+str(area)+"y"
print (string_yellow) # test on serial terminal
'''Blue'''
@ -109,7 +109,7 @@ while(True):
cy = img.height() / 2 - cy
angle = math.pi/2 - math.atan2(cy, cx)
dist = math.sqrt(cx*cx + cy*cy)
string_blue = "B"+str(cx)+" | "+str(cy)+" | |"+str(angle)+" | "+str(dist)+"b"
string_blue = "B"+str(cx)+" | "+str(cy)+" | |"+str(angle)+" | "+str(dist)+str(area)+"b"
print (string_blue) # test on serial terminal
#print ("..................................")