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team2485 / frc-2017

Robot Code for FRC Steamworks
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Program Vision Processing and test in sunlight #10

Closed jmcculloch2018 closed 7 years ago

jmcculloch2018 commented 7 years ago

Whenever it is sunny, we should be prepared to test vision processing outside with a few different light sources so we can determine what needs to be mounted on the final robot. The green LEDs will likely not be bright enough, so we should find or purchase other light sources in the near future. It is ideal for these sources to be bright, not concentrated, and green, but we can try a variety of lights.

jmcculloch2018 commented 7 years ago

We were having issues with SetAutomaticCapture, the following source code may reveal some stuff. https://github.com/wpilibsuite/allwpilib/blob/master/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CameraServer.java

jmcculloch2018 commented 7 years ago

We will be running this code on the kangaroo, not the roborio, There is a sample project for 2017 here

jmcculloch2018 commented 7 years ago

More progress was made with this in the frc-2017-kangaroo repository (all project management will still happen here). The robot flashes the lights at a predetermined frequency and writes values to the networktables every time they change. The kangaroo then reads those values to determine when the lights switched, and can thus grab a bright and a dark image to subtract. We were not quite able to get the result of the vision processing to display, but so far all but actually displaying the image "works" (read doesn't crash).

jmcculloch2018 commented 7 years ago

Tested with changed camera settings, worked indoors, just needs to be tested.