z:
sumtin 0.0000000
Hi! Im trying to get my camera working. Above is my output (should be num targets followed by fraction of distance of the first target to center)
I made this simple V of code to debug but no luck
help plz
#include "WPILib.h"
#include "nivision.h"
#include <stdlib.h>
#define IO (DriverStation::GetInstance()->GetEnhancedIO())
static AxisCamera &camera = AxisCamera::GetInstance("10.16.71.11");
//output from cameras to driverstation (so we can see it)
static ColorImage image(IMAQ_IMAGE_HSL);
//create an image to buffer pics
static DriverStationLCD* driverOut = DriverStationLCD::GetInstance();
BinaryImage* binImg;
class RobotDemo : public SimpleRobot
{
Joystick stick; // only joystick
public:
RobotDemo(void):
stick(1) // as they are declared above.
{
GetWatchdog().Kill();
binImg = image.ThresholdHSL(0, 250, 30, 200, 130, 270);
//HSL values (MUST BE FOUND BY EXPERIMENT)
camera.WriteMaxFPS(30);
//FPS
camera.WriteBrightness(30);
//
camera.WriteWhiteBalance(AxisCamera::kWhiteBalance _Hold);
//white balance -- set manually via internet connection w/hold
camera.WriteResolution(AxisCamera::kResolution_320 x240);
//resolution
camera.WriteColorLevel(100);
//low color
camera.WriteCompression(30);
//lower easier on CRIO and harder on cam
}
void Autonomous(void)
{
GetWatchdog().Kill();
}
void OperatorControl(void)
{
GetWatchdog().Kill();
while (IsOperatorControl())
{
camera.GetImage(&image);
vector<ParticleAnalysisReport>* particles = binImg->GetOrderedParticleAnalysisReports();
ParticleAnalysisReport& par = (*particles)[1];
driverOut->Clear();
if (stick.GetRawButton(1))
{
driverOut->PrintfLine(DriverStationLCD::kUser_Line1, "Z: %n", particles->size());//output num targets
driverOut->PrintfLine(DriverStationLCD::kUser_Line2, "sumtin %f", par.center_mass_y);
//output fraction of anle to target 1 in center of screen
}
driverOut->UpdateLCD();
}
}
};
START_ROBOT_CLASS(RobotDemo);