AprilTags

[henrikvtcodes]

One key goal this season is making use of April Tags.

Goals (if you think there is something missing here, leave a comment)

• Accurately log the position of the robot during matches (for simulation and diagnostics)
• Make autonomous routines more robust & repeatable
• Assist drivers with automations in game

Requirements

• [x] Select a vision system to use
• • Limelight (likely no, very expensive)
• • PhotonVision https://photonvision.org/
• • 6328 Kairos/Northstar Github Repo Link
• [x] Spec the system (how many cameras/processors?)
• [x] Select/Purchase Hardware
• [ ] Hardware build
• [x] Software Implementation
• [x] Tuning

To close this issue

This must be solved in a separate branch, and closed via a linked Pull Request. It may only be closed once initial tuning has been completed. It doesn't have to be perfect but it should be functional.

[henrikvtcodes]

Recognize April Tags and get position from them

[henrikvtcodes]

Hardware Ideas

Considering the price and limited availability of SBC-style computers, we should also look at thin clients & low cost mini pcs. Here's a few for consideration. Dell Wyse 3040 Ebay: https://www.ebay.com/itm/166427994741 (This unit has 16gb storage and includes a power supply; I have also bought from this exact listing/seller) - $30 CPU: Intel Atom x5-z8350 (4c/4t) Intel ARK RAM: 2GB DDR3 (soldered, max RAM of the processor) Storage: 8GB/16GB eMMC onboard (soldered) Notable Benefit: Powered by 5V at 2A max - super low power, easy to wire. Usually sold for low cost. GMKtec Mini PC Amazon: https://www.amazon.com/GMKtec-Nucbox5-Desktop-Computer-Windows/dp/B0B75PT2RY - $140 CPU: Intel N5105 (4c/4t) Intel ARK RAM: 8GB DDR4 (sodimm, upgradable to 16gb) Storage: 128GB NVMe (upgradeable, M.2 2242mm SSD) Notable Benefit: Powered by USB-C, recently released hardware, upgradable