Distance to travel once targetted?

[Mitch]

Okay, so we have the camera tracking the green light and centering the robot onto it. But can anyone drop some hints on figuring out how far forward to go?

I have read that some people go forward depending on the size of the bounds box returned by the t-data, but what other options are there? How are you implementing this?

[jgannon]

See this document drawn up by Kevin Watson... it may be very helpful.

http://www.kevin.org/frc/2007_frc_range_calc.pdf

[Michael DiRamio]

As you move towards the target the tilt on the camera mount will go up.

You could always drive the robot to where you intend to score from, see what the tilt is, then set up your autonomous to drive forward until the camera mount gets to that tilt angle.

[Mitch]

Originally Posted by jgannon

See this document drawn up by Kevin Watson... it may be very helpful.

http://www.kevin.org/frc/2007_frc_range_calc.pdf

oh of course... I knew this! Thank you.

[Bomberofdoom]

Is there anyone nice enough to tell me the blob size from the edge of the home zone to the target, while the camera is about 1 meter above the ground(or any other hight given)?

[Rindill]

You can calculate the distance using Kevin's formula. Then using encoders or gear tooth sensors you can create functions to go the wanted distance.

[Bomberofdoom]

Not, that's fine, I know how to do that, but I was wondering if anyone can tell me the light's "box" size from that distance.

[Alan Anderson]

Originally Posted by Bomberofdoom

Is there anyone nice enough to tell me the blob size from the edge of the home zone to the target, while the camera is about 1 meter above the ground(or any other hight given)?

There is no way to compute the blob size in advance. It depends on how far the target light is from the edge of the home zone, at what angle the camera is seeing the target light, how well the camera focus is adjusted, the details of lens and sensor geometry on the camera itself, and the distribution of brightness along the white diffuser panel.

The easiest answer is to put a camera where you want and see what it tells you the blob size is. You'll notice that the size changes based on exactly where the rack is and in which direction it is facing.

[Bomberofdoom]

As I persumed(spelled correctly?), we'll have to hang the light at the hight and distance from where we position the robot.
Thanks!

[razer]

is the range in meters? or something else?

and is the angel in degrees? or rdians? i remember that in the TANGENS function in MATH.H it is in radians... so we have to convert from degrees to radians

[Bomberofdoom]

Wasn't there a certain sensor that worked with radii degrees too?

[gnirts]

Yes, the tan() function in <math.h> takes the degrees argument in radians, so be sure to perform the conversion as Kevin's software calculates the tilt angle in degrees.

The units for distance will be whatever units you specified the light height and camera height with. In the .pdf document above, the 116 is inches, so be sure you calculate h (the height of your camera off the floor) in inches, and then the result will be in inches.

Good luck,
Robinson

[Bomberofdoom]

Could anyone give me the (equation/parameter) to convert degrees to radii?

[Branden Ghena]

radians == (degrees*PI)/180

(multiply by 3.1415926... and then divide by 180)

[Bomberofdoom]

Thank you!