Autonomous Target Tracking at Regionals

[Tom Line]

If you are using Kevin's code - you can also lower the required confidence requirement or you can increase the delay after each camera search increment.

You can also use his newest code for the 0-90 degree mapping of the full 255 pwm range for increased accuracy - though we didn't use it at the Detroit regional.

On thing I hope many teams considered is that using degrees is very inefficient. Use the straight PWM values so you don't have to do any floating point or lose any accuracy through integer math. You can go further than that too if you limit where you want to lock your camera so you only use about a 45 degree range - tracking with the camara isn't necessary if you've got a gyro and geartooth encoders, you simply need your initial angle and distance.

[bear24rw]

Originally Posted by Tom Line

tracking with the camara isn't necessary if you've got a gyro and geartooth encoders, you simply need your initial angle and distance.

you still need the camera because they spin the rack..

[Donut]

Originally Posted by bear24rw

you still need the camera because they spin the rack..

I think he meant you just need the camera to tell you where the rack is initially, you don't need to keep tracking it the whole autonomous period.

It looks like we've finally figured out our autonomous problems in the fix-it-windows, which means we should have a working auto at the Championship (didn't have enough time for it at AZ). I hope we don't have camera tracking problems there, I'd like to see a good amount of autonomous modes there.

[Tom Line]

Exactly right.

You need the camera once. So to avoid all the problems we've seen and have experienced, we get close, stop, and take one snapshot of where we are vs. the light.

It doesn't lend itself to any fancy turning / driving. We just turn once and then we drive straight ahead. But we do it often enough that we are pretty happy.

[Vogel648]

It's already been mentioned how to change it is Kevin's code(as I recall there's also an online window you could change it from), in EasyC they have a camera config menu, go to that and then offset your two ends of the three colors away from eachother by whatever seems apropriate.
edit: also dead reconing off your initial camera value means that if your steering is just a little bit off you might not get it, I personally think think tracking is the way to go.