Team 39: Target AND Field Oriented Drive (Target tracking)

[Tom Line]

After playing with the labview vision extensively, they may be using the 160x120 resolution. If so, after adjusting and in bright light like they have, I was able to obtain 70-100 millisecond timing (12 fps). At 320x240 I was only able to get it down to the 180 millisecond time frame (5 FPS).

I am curious as well as to how they are obtaining such seemingly excellent framerates. To be fair, mine have been running off the development computer and I'm unsure if theirs were deployed to the robot permanently and simply using the Driver station or not. At the 160x120 I begin losing the target at more than 18 feet.

Stunning work guys!

It's drive systems coupled with incredible programming like this that make me want to discard my dislike of holonomic drive systems... In fact, I think it's time to prototype one.

[AmoryG]

I haven't done much experimenting with the AxisCamera class, but I found something that might be useful:

/**
327	 * @param Valid values are 0, 50, 100.
328	 * 0 = Prioritize image quality
329	 * 50 = None
330	 * 100 = Prioritize frame rate
331	 */
332	void AxisCamera::writeExposurePriority(int exposurePriority) {
333	    char param[50];
334	    char* baseString = "Source.I0.Sensor.exposurePriority=%i";
335	    sprintf(param, baseString, exposurePriority);
336	    updateCamParam(param);
337	}

I'm not sure what the default is, but I bet giving it a value of 100 might increase your FPS.

I'm not really sure the frame rate needs to be much higher, though. Our robot turns very quickly (probably can rotate more than 360 degrees/s). Even while turning at full speed, our camera was good enough to track the target using a hacked up version of the vision sample code. For us, a full rotation a second is not reasonable. If our team were to improve our vision/tracking code, we would not look to improve frame rate, but the quality of our image.

[BornaE]

Originally Posted by CraigHickman

It's drive systems coupled with incredible programming like this that make me want to discard my dislike of holonomic drive systems... In fact, I think it's time to prototype one.

Exactly the reason we have the middle wheels, Best of both worlds.
The actuall middle wheels are in the crate at the moment, too heavy to hold back. They will be 8" x 1.75" roughtop wheels.