[stingray27]

For vision processing, I believe I am going to setup a system that uses vision processing, but at a minimal level. Last year, we wrote some code to attempt and follow the targets at all times. This didn't seem to fit to the game and so this year we are going to revise that method. The labview code for vision targeting from last year is a really good reference for those of you trying to figure it out. The only change you have to make is when determining the aspect ratio subscore, you have to compare it to the targets aspect ratio this year instead of the aspect ratio from last year (18 by 24). I am just going to divide the width and the height and then later use that number to determine what target the camera is currently looking at. I can then throw out the aspect ratio subscore when determining if the camera is looking at a target or not and use the other 3 subscores as the determining factor (convex hull operation score, or the rectangle coverage %, and the vetical and horizontal line scores).

As for actually using the vision information, I believe that we may go with just a single button that activates a vertical alignment of the shooter. Since the target is so wide and just limited in height, the shooter then would line up vertically and then hand over control to the operator. The horizontal alignment would just be from the driver. This allows for just a quick rough alignment of the robot and then the operator would only have to perform quick slight fine tuning.

Any thoughts?