01-12-2013, 05:54 PM
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Es Brokein!
AKA: John Westhoff
 FRC #4791 (Pandroids) Team Role: Mentor
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Join Date: Feb 2012
Rookie Year: 2010
Location: Horsham, PA
Posts: 92
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Re: Camera Tracking help please
Quote:
Originally Posted by 2472Programer
We got a somewhat tracking code working today, but i would like the people of chief delphi to take a look at it. I've posed errors in the code (as comments) that my mentor and I can't figure out. PLZ HELP!
package edu.wpi.first.wpilibj.templates;
Code:
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.camera.AxisCamera;
import edu.wpi.first.wpilibj.image.BinaryImage;
import edu.wpi.first.wpilibj.image.ColorImage;
import edu.wpi.first.wpilibj.image.CriteriaCollection;
import edu.wpi.first.wpilibj.image.NIVision;
import edu.wpi.first.wpilibj.image.NIVisionException;
import edu.wpi.first.wpilibj.image.ParticleAnalysisReport;
public class RobotTemplate extends IterativeRobot {
Joystick leftStick = new Joystick(1);
Joystick rightStick = new Joystick(2);
Joystick joypad = new Joystick(3);
RobotDrive tank = new RobotDrive(3,1,4,2);
Victor shooter = new Victor(5);
Relay ballLift = new Relay(1);
Relay ballHolder = new Relay(2);
Relay shooterAngle = new Relay(3);
AxisCamera camera = AxisCamera.getInstance();
CriteriaCollection cc;
public int centerup = 172;
public int centerdown = 152;
DigitalInput shootermin = new DigitalInput(1);
DigitalInput shootermax = new DigitalInput(2);
public void robotInit() {
cc = new CriteriaCollection();
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 30, 400, false);
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 40, 400, false);
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
//
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
tank.tankDrive(leftStick, rightStick);
if(joypad.getRawButton(5)){
ballLift.set(Relay.Value.kForward);
ballHolder.set(Relay.Value.kForward);
}else if(joypad.getRawButton(7)){
ballLift.set(Relay.Value.kReverse);
ballHolder.set(Relay.Value.kReverse);
}else{
ballLift.set(Relay.Value.kOff);
ballHolder.set(Relay.Value.kOff);
}
if(joypad.getRawButton(4)){
shooter.set(1);
}else if(joypad.getRawButton(3)){
shooter.set(-1);
}else{
shooter.set(0);
}
if(joypad.getRawButton(6)){
increaseShooterAngle();
}else if(joypad.getRawButton(8)){
decreaseShooterAngle();
}else{
shooterAngle.set(Relay.Value.kOff);
}
if(joypad.getRawButton(2)){
System.out.println("Button 2 Pressed");
centerShooter();
}
if(joypad.getRawButton(1)){
readLimitswiches();
}
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
}
private void centerShooter() {
ColorImage image = null;
BinaryImage thresholdImage = null;
BinaryImage bigObjectsImage = null;
BinaryImage convexHullImage = null;
BinaryImage filteredImage = null;
try{
image = camera.getImage();
thresholdImage = image.thresholdRGB(0, 45, 25, 225, 0, 45);
bigObjectsImage = thresholdImage.removeSmallObjects(false, 2);
convexHullImage = bigObjectsImage.convexHull(false);
filteredImage = convexHullImage.particleFilter(cc);
ParticleAnalysisReport[] reports = filteredImage.getOrderedParticleAnalysisReports();
for(int i = 0; i <reports.length +1;i++){
System.out.println(reports[i].center_mass_y);
if(reports[i].center_mass_y>centerdown){
increaseShooterAngle();
Timer.delay(.1);
shooterAngle.set(Relay.Value.kOff);
}else if(reports[i].center_mass_y<centerup){
decreaseShooterAngle();
Timer.delay(.1);
shooterAngle.set(Relay.Value.kOff);
}else{
System.out.println("Your Good");
}
}
}catch(Exception ex){
System.out.println("Failed");
System.out.println(ex);
//java.lang.ArrayIndexOutOfBoundsException: on [edu.wpi.first.wpilibj.image.ParticleAnalysisReport of length 0 with index 0
}finally{
}
try{
filteredImage.free();
convexHullImage.free();
bigObjectsImage.free();
thresholdImage.free();
image.free();
}catch(NIVisionException ex){
}
}
private void increaseShooterAngle() {
if(!shootermax.get()){
shooterAngle.set(Relay.Value.kForward);
}else{
shooterAngle.set(Relay.Value.kOff);
System.out.println("At Maximum Angle");
}
}
private void decreaseShooterAngle() {
if(!shootermin.get()){
shooterAngle.set(Relay.Value.kReverse);
}else{
shooterAngle.set(Relay.Value.kOff);
System.out.println("At Minnimum Angle");
}
}
private void readLimitswiches() {
if(shootermin.get()){
System.out.println("Shooter Min is true");
}else{
System.out.println("Shooter Min is False");
}
}
} |
When you get your ArrayIndexOutOfBoundsException it is because you currently don't have any targets to aim for, and you are accessing an array past its final index. Before you do anything with the reports array, make sure it is not empty/have a length of zero.
__________________
2011-2014 - FRC 2607 - Student
2012-2012 - FLL 2249 - Coach
2015- ???? - FRC 4791 - Mentor
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