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Unread 23-01-2005, 23:10
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Re: Ideas distingushing between middle goals?

Quote:
Originally Posted by Zalumaskov
I was just wondering about how to get the robot cam to find the middle of the three goals. I am considering having it scan for all three and use the middle pan value to get the center goal. Does anyone have any suggestions/other ideas?
I just thought of it, the height. I have to look at the drawings, which I can't right now. Can someone check up and tell me if the height is different?
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Unread 23-01-2005, 23:16
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Re: Ideas distingushing between middle goals?

Quote:
Originally Posted by Bharat Nain
I just thought of it, the height. I have to look at the drawings, which I can't right now. Can someone check up and tell me if the height is different?
The camera would be finding the yellow triangle under the goal, not the goal itself, so the height wouldn't help. AFAIK, the triangles under each goal are identical.

I plan on using other sensors to find the goal. I have a bad feeling about trying to use those yellow triangles.
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Last edited by jgannon : 23-01-2005 at 23:18.
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Unread 23-01-2005, 23:24
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Re: Ideas distingushing between middle goals?

I don't know if you have heard of wildstang's stangps but i thought of tracking our position using trig while the camera is leading the bot to the goal. Once the robot picks up the tetra you will know where you are and you will know where you have to go. It might be a little complex though.
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Unread 24-01-2005, 00:41
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Re: Ideas distingushing between middle goals?

Do you mean you are going to use the camera servo values for trig? Because those are not very acurate, at least not if you are just using slightly modified (or unmodified) default camera code. Does anyone know how I can change the servo resolution in default camera code?
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Unread 24-01-2005, 00:52
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Re: Ideas distingushing between middle goals?

Quote:
Originally Posted by Chris Bright
I don't know if you have heard of wildstang's stangps but i thought of tracking our position using trig while the camera is leading the bot to the goal.
Using something like StangPS would be an effective strategy for finding the goal every time (hint, hint), but I wouldn't use the camera for that, because as russell noted, it's really not accurate enough for that.
Quote:
Originally Posted by russell
Does anyone know how I can change the servo resolution in default camera code?
From what I can tell, that's in the firmware of the camera board, not in the user code. I would love it if someone could prove me wrong, though.
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Unread 24-01-2005, 06:58
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Re: Ideas distingushing between middle goals?

Quote:
Originally Posted by russell
Do you mean you are going to use the camera servo values for trig? Because those are not very acurate, at least not if you are just using slightly modified (or unmodified) default camera code. Does anyone know how I can change the servo resolution in default camera code?
I don't think my post was very clear lol. The camera would just be tracking the tetra. While the camera is tracking we would be keeping tabs on our position with quadrature encoders and a gyro. We would use the position they gave us after we pickup the tetra. I also thought of creating a boundary around the goal so if the robot crossed we would switch back to the camera from trig tracking. So basically the would be two separate systems.
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