What Did you use for Vision Tracking?

[MamaSpoldi]

Originally Posted by nighterfighter

1771 originally used the Axis M1011 camera, and GRIP on the driver station. However we had a problem on the field, the network table data was not being sent back, and we couldn't figure it out.

We switched to using a PixyCam, and had much better results.

Team 230 also used a PixyCam... with awesome results and we integrated it in one day. The PixyCam does the image processing on-board so there is no need to transfer images. You can quickly train it to search for a specific color that you train it for and report when it sees it. We selected the simplest interface option provided by the Pixy which involves a single digital (indicating "I see a target") and a single analog (which provides feedback for where within the frame the target is located). This allowed us to provide a driver interface (and also program the code in autonomous) to use the digital to tell us when the target is in view and then allow the analog value to drive the robot rotation to center the goal.

The only issue we came up against after the initial integration was at Champs when the much more polished surface of the driver's station wall reflected back the LEDs to the camera simulating a goal target and we shot at ourselves in autonomous. It was quickly fixed by adding the requirement that we had to rotate at least 45 degrees before we started looking for a target.

The PixyCam is an excellent way to provide auto-targeting without significant impact to the code on the roboRIO or requiring sophisticated integration of additional software.