Is anyone using the Camera?

[Akash Rastogi]

We used our camera at Trenton along with a few other sensors that we'll try to perfect at Philly. At the moment we've only risked trying to score 2 balls in autonomous while placing the other 5 in our conveyor ready to load the hopper in teleop. We were extremely proud of our programmers for making it track very well.

[gorrilla]

we're using it,

we have it working perfectly


All Zach has to do it aim the turret towards a trailer, and then the camera takes over and follows it.

[slavik262]

We're having some difficulties with the camera.

It's working, but response time is ridiculously slow (> 0.5 seconds). I'm not quite sure what's causing it. I'm just using the FindColor() function provided in the API, and I even tried to speed that up by allowing multiple calls to use the same image (so that you don't have to get a new image for each call). Still no luck.

The only thing thing that I can think of as the cause is that I'm using a multi-tasking system (the drive train, collector system, and shooter system all have their own tasks, using a buffering system of my design). I don't see how they would be slowing things down to that point, however, as all other tasks have very fast response times ( < 0.05 seconds).

Any ideas what may be the problem?

[gorrilla]

Originally Posted by slavik262

We're having some difficulties with the camera.

It's working, but response time is ridiculously slow (> 0.5 seconds). I'm not quite sure what's causing it. I'm just using the FindColor() function provided in the API, and I even tried to speed that up by allowing multiple calls to use the same image (so that you don't have to get a new image for each call). Still no luck.

The only thing thing that I can think of as the cause is that I'm using a multi-tasking system (the drive train, collector system, and shooter system all have their own tasks, using a buffering system of my design). I don't see how they would be slowing things down to that point, however, as all other tasks have very fast response times ( < 0.05 seconds).

Any ideas what may be the problem?

are you using any sensors?

we have a gyro and accelerometer and 7 motors all running and there's no delay....

is it on a rotating turret?

we had this problem, but solved it by decreasing the speed of the rotation and now it lock on in under .5 second from 6 feet....


although our camera is set to only track pink....

[slavik262]

We are using sensors. We have 4 encoders hooked up to the drive train (we're using an omni system). It's not the lock-on that's the problem. I could tune that fairly easily. The problem is the actual return rate of the function I'm using to get target data. I've put in some prints for debugging and the actual function only returns at > 0.5 seconds. The actual tracking works perfectly; the problem is that it's too slow.

I'm planning on trying an approach closer to what is used in the two color demo. We'll see if that gives us any luck.