Follow the goal example from Team 330

[a3aperez]

The code does not use the servos. if you have the camera mounted in the provided gimbal, you should either mechanically constrain the gimbal so it doesn't flop around or drive the servos so it doesn't move.

It does rotate the robot to search for the target. You can look at the displays on the front panel of robot main to see what the camera sees. My guess is that if you get to close, the target goes off the screen.

I never got it to follow me (I was holding the gimbal) for more than a second. Should I stand farther away? What about making the motors a bit slower? Where can I edit this?

Thanks for your help.

[jross]

I never got it to follow me (I was holding the gimbal) for more than a second. Should I stand farther away? What about making the motors a bit slower? Where can I edit this?

Thanks for your help.

The first thing you should do is make sure that the camera is actually seeing the target by looking at the displays on the Basic Robot Main front panel. You should have someone looking at the displays while someone else has the target.

You can change the speeds on the front panel of the autonomous independent. Change the X and Y max speeds to smaller numbers. You can also decrease the PID constants if there is too much oscillation.

[windell747]

By "how tall the target appears" does this mean the height of the target from its bottom or the height the target is from the floor? Great job!

[jross]

By "how tall the target appears" does this mean the height of the target from its bottom or the height the target is from the floor? Great job!

It's the size the target appears in the camera, bottom - top.

[windell747]

Do you have any suggestions for adjusting the mask filter for indoor lighting? Or a calibration procedure? We ran the code out of the box and the code picked up the goal partially, but not fully so it doesn't track the goal.

In addition, we are interested in modifying your code to make our shooter track the goal instead of the entire bot rotating. I took a look at the code and I'm trying to figure out how the motor commands for the x and y axes are modified by the PID controller. I see that a pixel value process variable and a pixel value set points, but I dont know how those units are converted into the motor commands without conversion.

Can I ask for your help in helping me get my head around this?

[jross]

Do you have any suggestions for adjusting the mask filter for indoor lighting? Or a calibration procedure? We ran the code out of the box and the code picked up the goal partially, but not fully so it doesn't track the goal.

We left out some of the features of the two color servo example. You should start with that one, find the values that work, then modify this program with those values. See this post: http://forums.usfirst.org/showpost.p...4&postcount=10[/quote]

In addition, we are interested in modifying your code to make our shooter track the goal instead of the entire bot rotating. I took a look at the code and I'm trying to figure out how the motor commands for the x and y axes are modified by the PID controller. I see that a pixel value process variable and a pixel value set points, but I dont know how those units are converted into the motor commands without conversion.

It sounds like you need to learn about the miracle known as PID. I'd suggest reading the following article: http://www.embedded.com/2000/0010/0010feat3.htm or any of the other million articles available on the web. Note that we are only using the proportional part.

[elbuo]

I really don't understand how to use this code...
I would like to try it for the autonomous period but I don't understand how to set the values of distance that I want the camera to focus on.
And I want to see how can I make it shoot too when it has reached that distance

[jross]

I would like to try it for the autonomous period but I don't understand how to set the values of distance that I want the camera to focus on.

Change the Y setpoint on the Autonomous Independent front panel.

And I want to see how can I make it shoot too when it has reached that distance

That is an exercise left to the student. In general you'd probably want the X and Y get to within a certain range and then trigger an action.

[elbuo]

So I don't have to edit the PID? Cause I don't understand anything on it

In general you'd probably want the X and Y get to within a certain range and then trigger an action.

Where do I set that

[Chris1228]

where do i add the part to dump balls into the goal after a certain distance?