[DinerKid]

1768 began the season using OpenCV and a Jetson TK1, we later switched to a Nexus 5X which became desirable due to its all in one packaging (camera and processor, which made taking it off the robot to do testing between events easy) and because our programmers felt as though it would be simpler to communicate between the roboRIO and the Nexus.

The nexus was used to measure distance and angle to the target, this information was then sent to the roboRIO. Nested PID loops then used the NavX MXP gyro data to alight the robot to the target. Images taken during the auto aligning process were used to adjust the turn set point. After two consecutive images returned an angle to the target of less than 0.5 degrees new images were not used to adjust the set point allowing the PID to maintain a position rather than bounce between slightly varying set points.

~DK