2011 Camera Code on Driver Station

[drakesword]

Originally Posted by divixsoft

what do you guys think of this code? and how do you transfer the processing from the crio to the classmate using the classes from frc?

You avoid the cRio handling the camera completely.

The new "robot radio" has multiple ports so you can plug the cRio in one port and the camera in another.

The cRio then doesn't assign an ip to the camera the router does which then you can use to pull images to the classmate.

The program then retrieves the images, processes it, then spits data back to the robot via UDP

[divixsoft]

How is UDP used, and what is UDP?

[Alan Anderson]

UDP stands for User Datagram Protocol. It doesn't need any channel setup handhaking before being used, it has a lot less overhead than TCP, and it's used where guaranteed delivery of network packets is less important than the ability to communicate quickly.

See Wikipedia for a bit more detail. See RFC 768 for a lot more detail.

[drakesword]

Found several bugs.

First java on the cRIO does not support UDP. Changed to TCP.
Second the protocol was sending a bunch of empty data (roughly 800 bytes) changed to be dynamicly sized. I am still fixing the samples for release. Expect a java alpha on monday

[drakesword]

Sorry guys I was sick yesterday and the ftp has been down on my server.


{EDIT}

Actually the entire server is down -_-

[mwtidd]

Originally Posted by drakesword

Sorry guys I was sick yesterday and the ftp has been down on my server.


{EDIT}

Actually the entire server is down -_-

This stuff is awesome. Finally got it running on my mac, which apparently doesnt like 32 bit java vms.

I was wondering, what's your light source that makes the pegs show up bright green like that?

Also have you had any success incorporating this into a custom driver station?

[drakesword]

Originally Posted by lineskier

This stuff is awesome. Finally got it running on my mac, which apparently doesnt like 32 bit java vms.

I was wondering, what's your light source that makes the pegs show up bright green like that?

Also have you had any success incorporating this into a custom driver station?

Thanks!

The light source was the old target lights believe it or not! But that was for testing ... dont think it would have been a problem except the size. So instead duiring competition we went with 2 blue LED's powered off of the cameras own 5volt supply. We did run into a problem with our shirts being blue but it still did ok at tracking. I will be updating the code again soon and posting it on my new server!

P.S. Im dropping my old server 99.5% uptime is a big joke my site has been down for 17 days now!