Aiming with Vision

[dubiousSwain]

Originally Posted by Greg McKaskle

Your input value ranges from -160 to 160, which means that your other tuning parameters will need to be pretty small to output a number between .5 and -.5.
...
Finally, after doing this, I think you'll find that you cannot really close the loop using a camera. I'd suggest that you use the offset from the camera to compute an amount to turn the robot. Then use a gyro to close the loop. The measure with the camera and repeat if necessary.

Greg McKaskle

Thank you, this is great advice. I hadn't thought of graphing the output. We were discussing closing the loop with a gyro, now I think we will definitely do that. I'm not sure if it was included in the snippets, but I was trying to set the offset to zero when we lost the target but the robot kept spinning, must have been a bug.

Also when I set the I to 0, the loop doesn't output anything. Why is that?

[Greg McKaskle]

When I is set to zero, the code has a special case for P and PD. When you say it doesn't output anything, do you mean it doesn't complete, always returns zero, or something else?

Greg McKaskle

[dubiousSwain]

Originally Posted by Greg McKaskle

When I is set to zero, the code has a special case for P and PD. When you say it doesn't output anything, do you mean it doesn't complete, always returns zero, or something else?

Greg McKaskle

I'll do some more testing when I get back to the shop, but AFAIR, it outputs 0

[btcshields6]

So dubiousSwain, you used both RoboRealm and the Vision Assistant? What 'algorithm' did you perfect in RoboRealm?

[dubiousSwain]

Originally Posted by btcshields6

So dubiousSwain, you used both RoboRealm and the Vision Assistant? What 'algorithm' did you perfect in RoboRealm?

We have two programmers on our team, so we decided to split up and research different approaches. I worked on blob filtering in RoboRealm, while my teammate Billy worked on pattern matching in the Vision assistant, a la 900. I made much quicker progress on the blob filter, and it gave good results, so we ported the pipeline into the vision assistant and had it build the VI. We decided that socketing into roborealm would not be as reliable as running a VI robot-side or using NT dashboard-side

tl;dr, we are not using both Roborealm and Vision Assistant, we tested both and then decided to use the VA.

EDIT: By algorithm I mean Pipeline.

[btcshields6]

Oh. Okay. We only have one programmer, me, so the quicker I can settle on something the better. I guess I'll stick with Vision Assistant. Thanks!

Benjamin

[dubiousSwain]

Originally Posted by btcshields6

Oh. Okay. We only have one programmer, me, so the quicker I can settle on something the better. I guess I'll stick with Vision Assistant. Thanks!

Benjamin

The key for vision assistant is to take as many test images as you can, in all kinds of lighting. You can do this by pausing the live stream at 10.42.06.20 and right clicking "save as". Make sure its paused, or your computer will not open the dialogue box and continuously acquire images.

Please PM me if you have any trouble, it can be tricky to figure out

[btcshields6]

Okay. Thanks! Do I use all the images to test it, or somehow factor them all in as images to look for in Vision Assistant? Sorry for my inexperience, I've never used it before, and I haven't yet had the chance to play around with it.

[dubiousSwain]

Originally Posted by btcshields6

Okay. Thanks! Do I use all the images to test it, or somehow factor them all in as images to look for in Vision Assistant? Sorry for my inexperience, I've never used it before, and I haven't yet had the chance to play around with it.

There is an option in the file menu to import images. Just shift select all the images you saved and it will import them all. then use the green arrows above the pipeline or the grey arrows to the left to move through them.

[btcshields6]

Okay. Thanks. I'll be trying that soon.