Java vision example heading not changing

Technical Java
#1

I’m using WPI’s vision tracker example, and there seems to be a strange issue: the turn heading doesn’t change. I added a call to print the turn value in autonomousPeriodic() to make sure of this.


/**
 * This function is called periodically during autonomous
 */
@Override
public void autonomousPeriodic() {
	// commented out for vision
	// Scheduler.getInstance().run();
	double centerX;
	synchronized (imgLock) {
		centerX = this.centerX;
	}
	double turn = centerX - (IMG_WIDTH / 2);
	// drive with turn
	System.out.println("Turn value: " + turn * 0.005);
	wpiDrive.arcadeDrive(0.5, turn * 0.005);
}

(The result code is at https://github.com/BHSSFRC/patricias-coffee/blob/develop/JavaBot/src/org/usfirst/frc/team3494/robot/Robot.java)

The console output looks like this:


Turn value: -0.025
Turn value: -0.025
Turn value: -0.025
...

Does anyone have any idea why the turn value doesn’t appear to be updating?

#2

Within your Robot.java, line 69 …if !empty…, this is a dependency for finding at least one contour, is that false?

#3

You know what, it probably is. I’ve been refining our vision pipeline to see if this is the case. Will update when I have answers.

#4