Vision tracking: Did they get it right?

[Chris is me]

Originally Posted by GGCO

Honestly, I don't see much of an advantage of it for auton. Unless you can get a ball, line up the target, and shoot it 100% of the time.

The reason auton scoring is beneficial, in my opinion, is that the goals will be completely undefended. You might not even need to camera track to score in them.

[DonRotolo]

Can't say if they got it right, but can say we want to use it this year, IF we can get it to work.

[indubitably]

Is there going to be some kind of prepared program we can download?
If so can someone please post a link.

[Radical Pi]

Originally Posted by indubitably

Is there going to be some kind of prepared program we can download?
If so can someone please post a link.

It's probably inside the windriver update (for the c people). Excuse me while I go check for zip files

Originally Posted by jspatz1

Not necessarily. A defensive bot's autonomous mode may be to block a goal.

<G28> says otherwise:

Originally Posted by <G28>

AUTONOMOUS PERIOD ROBOT Movement - During the AUTONOMOUS PERIOD, a ROBOT cannot completely cross the CENTER LINE.

Can't cross the centerline, so can't block opponent shots

[Radical Pi]

Found the code for targeting. According to the comments lighting should have no effect on it. For you tech savvy people (isn't that everyone here?), download the windriver updater, rename it to a .zip, and unzip it. In the folder go to vxworks-6.3\target\src\demo\2010ImageDemo. Target.cpp is the source code for the targeting system.

Looks like they just went with converting the color image into monochromatic and looking for the changes there. they even made detecting the circle an API call.

oh and indubitably you can find the LabVIEW update here.

[indubitably]

thank you

[GGCO]

Anyway I can find the Java camera code? I saw it once somewhere, but can't remember. Thanks in advance!

[GGCO]

http://first.wpi.edu/FRC/frcjava.html

Nevermind.

[slavik262]

I'm really excited for this year. Live video streams to the drivers will be amazing, and the targeting is built into the API (through their ellipse-finding code). Now teams will have consistant, (hopefully) reliable, and contained targeting code that's standard across the board.

[rjbarra]

It uses RobertDrive class which does not support crab drive

[Greg McKaskle]

Since it is not possible to support all type of robot bases with the current WPILib, it controls what is probably the most common. At one level it computes an angle to rotate, then uses robot drive to rotate. It should be pretty easy to map to alternate drive bases. Of course you will likely want it to move forward, kick, line up with another, etc.

Greg McKaskle

[Paul Copioli]

Is vision needed in this game?

Is the goal stationary? YES
Do you know the location of the balls prior to Auton? YES
Do you know your robot location prior to Auton? YES
Is there potential defense in auton? NO
Can a human score without camera? YES


Is vision needed in this game? NO

We are all for using the camera, when the effort is worth it. We used it in 06, because it was worth it. We will not use it this year because it is not worth it.

[rjbarra]

I think the camera will be worth using for aiming the kicker

[Racer26]

Originally Posted by rjbarra

It uses RobertDrive class which does not support crab drive

I assume you're referring to the "RobotDrive" class.

It would be easy enough to create your own CrabDrive class which extends the RobotDrive class. This would allow you to pass a CrabDrive to the vision code and have it work properly.

class CrabDrive : RobotDrive {
 //build your class here. 
}

Yay for inheritance and OOP!

[Jon236]

Our drivers were very impressed by a demo of the system. They feel that they can drive and play with the camera alone!

This should be an interesting game!