Vision Tracking, now what :)

[Alan Anderson]

Originally Posted by Teamcodeorange

tl;dr I need help figuring out how to make the -1 to 1 "x" values of the vision tracking .vi into something that tells the drivetrain to line up with the target. (preferably with a PID loop)

How would you do it as a driver controlling the robot by hand? Come up with a good answer to that, and you might be able to implement it in code so the robot can control itself.

[Brandon_L]

We are having the same problem. Ill get you up to speed with where we are right now -

It seems like you filtered out all the target info to get what you want. Now from there, look up camera specs for field of vision. We are using the axis 206, which has 48 degrees of vision. So from -1 to 1 is 48 degrees. 48/2=24, so its 24 degrees each way from the center. So what you want to do is take the X value from the camera for your target, and multiply it by 24. This will give you how many degrees you want to turn. (example - X value of 0.5 * 24 = 12 degrees).

From here, it depends if your using a gyro to sense robot turning, or encoders on your drivetrain. We tried both and got farther with the gyro but its still not great.