Chief Delphi - Java vision example heading not changing

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Java vision example heading not changing

I'm using WPI's vision tracker example, and there seems to be a strange issue: the turn heading doesn't change. I added a call to print the turn value in autonomousPeriodic() to make sure of this.

Code:

/**

 * This function is called periodically during autonomous

 */

@Override

public void autonomousPeriodic() {

        // commented out for vision

        // Scheduler.getInstance().run();

        double centerX;

        synchronized (imgLock) {

                centerX = this.centerX;

        }

        double turn = centerX - (IMG_WIDTH / 2);

        // drive with turn

        System.out.println("Turn value: " + turn * 0.005);

        wpiDrive.arcadeDrive(0.5, turn * 0.005);

}

(The result code is at https://github.com/BHSSFRC/patricias...bot/Robot.java)

The console output looks like this:

Code:

Turn value: -0.025

Turn value: -0.025

Turn value: -0.025

...

Does anyone have any idea why the turn value doesn't appear to be updating?

Re: Java vision example heading not changing

Quote:

Originally Posted by tkdberger (Post 1634204)

Does anyone have any idea why the turn value doesn't appear to be updating?

Within your Robot.java, line 69 ...if !empty..., this is a dependency for finding at least one contour, is that false?

Re: Java vision example heading not changing

Quote:

Originally Posted by wlogeais (Post 1634296)

Within your Robot.java, line 69 ...if !empty..., this is a dependency for finding at least one contour, is that false?

You know what, it probably is. I've been refining our vision pipeline to see if this is the case. Will update when I have answers.