项目:FRC-2014-robot-project
文件:AutonomousModeHandler.java
public AutonomousModeHandler(Encoder enc1,Encoder enc2,RobotDrivePID robotoDrive,AxisCamera cam,ConfigurableValues configurableValues,IntakeControl frontIntake,IntakeControl backIntake,ShooterControl shooterControl,DigitalInput frontIntakeArmAngleDetector)
{
m_configurableValues = configurableValues;
m_shooterControl = shooterControl;
m_robotDrivePid = robotoDrive;
m_frontIntake = frontIntake;
m_backIntake = backIntake;
m_frontIntakeArmAngleDetector = frontIntakeArmAngleDetector;
m_driveEncoder1 = enc1;
m_driveEncoder2 = enc2;
m_encoderAverager = new EncoderAverager(m_driveEncoder1,m_driveEncoder2);
m_autonomousImageDetector = new AutonomousImageDetector(cam,m_configurableValues);
m_nextStateArray= new byte[256];
m_motorBrake = new MotorBrake();
SetCurrentState(AUTONOMOUS_HANDLER_STATE_WAIT);
SetNextStateArray(AUTONOMOUS_MODE_1_BALL_SHOOTING);
m_overrideCoefficients = false;
m_pidController = null;
m_disabled = true;
m_shootingBall = false;
m_driving = false;
m_braking = false;
m_detectingImage = false;
m_currentStateIndex = 0;
m_loadingBall = false;
m_shooterPullingBack = false;
}
项目:2014-mermaid
文件:Robot.java
项目:2014CataBot
文件:RobotMain.java
protected void robotinit() {
Debug.clear();
Debug.log(1,1,"Robot Initalized");
state = START;
lastUpdate = System.currentTimeMillis();
motorTime = 0L;
vertHeight = 0;
drive.initializeDrive(LEFT_DRIVE_FRONT,LEFT_DRIVE_REAR,RIGHT_DRIVE_FRONT,RIGHT_DRIVE_REAR);
//drive.initializeDrive(6,4);
drive.setSafety(false);
intake = new VexSpike(INTAKE_SPIKE);
intake2 = new VexSpike(INTAKE_SPIKE_2); //special spike
intake2.deactivate(); //special spike
intake.deactivate();
winch = new VexSpike(WINCH_SPIKE);
drive.addVictor(TRIGGER_PORT);
drive.addVictor(WINCH_PORT);
//trigger = new Victor(TRIGGER_PORT);
camera = AxisCamera.getInstance("10.40.79.11");
cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA,400,65535,false);
//camera = AxisCamera.getInstance("10.40.79.11");
horzCenterMassX = 0.0;
horzCenterMassY = 0.0;
vertCenterMassX = 0.0;
vertCenterMassY = 0.0;
System.out.println("End of Robot Init");
}
项目:2014VisionSample
文件:VisionSampleProject2014.java
项目:frc_2014_aerialassist
文件:FRC2014Java.java
FRC2014Java(){
//Motor Controllers
leftDrive = new Talon(TALON_PORT_L);
rightDrive = new Talon(TALON_PORT_R);
//Joystick
xBox = new Joystick(1);
//Winch
winch = new Talon(2);
//Intake
intake = new Talon(8);
//Cam
cam = new Talon(3);
//Catapult Limit Switch
catapultLimit = new DigitalInput(1);
//Cam Limit Switch
camLimit = new DigitalInput(2);
//Intake Limit Switch
intakeLimit = new DigitalInput(3);
//Cameras
cameraFront = AxisCamera.getInstance("10.10.2.11");
cameraBack = AxisCamera.getInstance("10.10.2.12");
//Watchdog
dog = Watchdog.getInstance();
}
项目:PillowBot
文件:PillowCam.java
public PillowCam() {
camera = AxisCamera.getInstance();
cc = new CriteriaCollection();
cc.addCriteria(MeasurementType.IMAQ_MT_AREA,AREA_MIN,AREA_MAX,false);
ccleft = new CriteriaCollection();
ccleft.addCriteria(MeasurementType.IMAQ_MT_FirsT_PIXEL_X,120,false);
ccRight = new CriteriaCollection();
ccRight.addCriteria(MeasurementType.IMAQ_MT_FirsT_PIXEL_X,200,320,false);
}
项目:FRC623Robot2014
文件:VisionController.java
private VisionController() {
camera = AxisCamera.getInstance();
cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA,false);
target = new TargetReport();
verticalTargets = new int[MAX_PARTICLES];
horizontalTargets = new int[MAX_PARTICLES];
}
项目:2012
文件:CameraUnit.java
public CameraUnit()
{
camera = AxisCamera.getInstance(ReboundRumble.CAMERA_IP);
camera.writeResolution(AxisCamera.ResolutionT.k320x240);
camera.writeExposurePriority(AxisCamera.ExposurePriorityT.imageQuality);
camera.writeExposureControl(AxisCamera.ExposureT.hold);
camera.writeWhiteBalance(AxisCamera.WhiteBalanceT.fixedindoor);
cc = new CriteriaCollection();
cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH,15,false);
cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT,false);
cameraPan = new Servo(1,6);
cameraTilt = new Servo(1,7);
}
项目:RobotCode2013
文件:Vision.java
public Vision() {
if (enableVision) camera = AxisCamera.getInstance("10.25.2.11");
lastFrame = System.currentTimeMillis();
frameProcess = 0;
cc = new CriteriaCollection();
cc.addCriteria(MeasurementType.IMAQ_MT_AREA,3000,6000,false);
distanceReg = new Regression(0.0000086131992,-0.0893246981,244.5414525); // a,b,c
angleReg = new Regression(15.32142857,-565.2928571,5720.678571); // a,c
SmartDashboard.putNumber("Angle Regression Constant",angleReg.getConstant());
}
项目:Robotcode
文件:Team1482Robot.java
public void robotinit() {
camera = AxisCamera.getInstance();
cc = new CriteriaCollection();
cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH,false);
cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT,false); //todo: check WPILibJ documentation
SmartDashboard.putBoolean("Grab state",false);
SmartDashboard.putBoolean("Lift state",false);
System.out.println("Robotinit() completed. \n");
}
项目:2013-Ultimate-Ascent-Robot
文件:ImageProcesser.java
public ImageProcesser(UltimateAscentRobot robot){
super(robot);
//roboRealm.
driverStation = NetworkTable.getTable("SmartDashboard");
// try {
// NetworkTable.initialize();
// } catch (IOException ex) {
// ex.printstacktrace();
// }
camera = AxisCamera.getInstance("10.36.95.11");
camera.writeCompression(40);
camera.writeResolution(AxisCamera.ResolutionT.k320x240);
camera.writeExposureControl(AxisCamera.ExposureT.automatic);
camera.writeRotation(AxisCamera.RotationT.k0);
highGoal = null;
leftMiddleGoal = null;
rightMiddleGoal = null;
lowGoal = null;
leftSeparator = null;
rightSeparator = null;
post = null;
bar = null;
}
项目:2013ultimate-ascent
文件:GRTVisionTracker.java
public GRTVisionTracker(AxisCamera cam) {
super("Vision Tracker",NUM_DATA);
this.camera = cam;
this.cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA,500,false);
X_IMAGE_RES = camera.getResolution().width;
listeners = new Vector();
}
项目:grtframeworkv7
文件:GRTVisionTracker.java
public GRTVisionTracker(AxisCamera cam) {
super("Vision Tracker",false);
X_IMAGE_RES = camera.getResolution().width;
listeners = new Vector();
}
public CameraSubsystem() {
// super(kp,ki,kd);
try {
cam = AxisCamera.getInstance();
cam.writeResolution(AxisCamera.ResolutionT.k320x240);
}
catch(Exception e) {
cam = null;
System.out.println("Could not connect to camera.");
}
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT,MIN_HEIGHT,MAX_HEIGHT,true);
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH,MIN_WIDTH,MAX_WIDTH,true);
// this.setSetpoint(160);
// this.setAbsolutetolerance(.03);
}
项目:FRC-2014-robot-project
文件:AutonomousImageDetector.java
项目:2014-Assist-Robot-Prime
文件:ImageProPart.java
public ImageProPart(BotRunner runner){
super(runner);
AxisCamera.getInstance("10.36.95.11");
}
项目:Aerial-Assist
文件:AxisCameraM1101.java
public AxisCameraM1101() {
camera = AxisCamera.getInstance();
criteriaCollection = new CriteriaCollection();
criteriaCollection.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA,true);
}
public ShooterComputer() {
camera = AxisCamera.getInstance(RobotMap.CAMERA_IP); // get an instance of the camera
cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(MeasurementType.IMAQ_MT_AREA,false);
prefs = Preferences.getInstance();
}
项目:2014CameraTracking
文件:VisionSampleProject2014.java
public void robotinit() {
camera = AxisCamera.getInstance("10.35.28.11"); // get an instance of the camera
cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(MeasurementType.IMAQ_MT_AREA,false);
}
public void init() {
camera = AxisCamera.getInstance();
cc = new CriteriaCollection();
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA,65536,false);
}
public CameraSubsystem() {
cam = AxisCamera.getInstance("10.6.49.11");
}
项目:PillowBot
文件:VisionTracker.java
public VisionTracker(){
this.camera = AxisCamera.getInstance();
cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(MeasurementType.IMAQ_MT_AREA,false);
}
项目:RobotBlueTwilight2013
文件:BTVision.java
public BTVision() {
camera = AxisCamera.getInstance(); // get an instance of the camera
cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA,420,false);
}
项目:legacy
文件:Drivetrain.java
public Drivetrain() {
frontLeft = new Victor(RobotMap.frontLeftVictor);
rearLeft = new Victor(RobotMap.rearLeftVictor);
frontRight = new Victor(RobotMap.frontRightVictor);
rearRight = new Victor(RobotMap.rearRightVictor);
drive = new RobotDrive(frontLeft,rearLeft,frontRight,rearRight);
leftEncoder = new Encoder(RobotMap.leftDriveEncoderA,RobotMap.leftDriveEncoderB);
rightEncoder = new Encoder(RobotMap.rightDriveEncoderA,RobotMap.rightDriveEncoderB);
gyro = new Gyro(RobotMap.gyro);
camera = AxisCamera.getInstance("10.32.66.11");
// try {
// cImage = new RGBImage();
// bImage = (BinaryImage) new MonoImage();
// } catch (NIVisionException ex) {
// ex.printstacktrace();
// }
redLow = 10;
redHigh = 155;
greenLow = 140;
greenHigh = 255;
blueLow = 140;
blueHigh = 255;
leftEncoder.setPIDSourceParameter(Encoder.PIDSourceParameter.kdistance);
rightEncoder.setPIDSourceParameter(Encoder.PIDSourceParameter.kdistance);
leftDriveOutput = new LeftDriveOutput();
rightDriveOutput = new RightDriveOutput();
leftPID = new PIDController(RobotMap.driveLowKp,RobotMap.driveLowKi,RobotMap.driveLowKd,leftEncoder,leftDriveOutput);
rightPID = new PIDController(RobotMap.driveLowKp,rightEncoder,rightDriveOutput);
leftPID.setoutputRange(-1.0,1.0);
rightPID.setoutputRange(-1.0,1.0);
leftEncoder.setdistancePerpulse(-RobotMap.driveEncoderdistancePerpulse);
rightEncoder.setdistancePerpulse(RobotMap.driveEncoderdistancePerpulse);
}
项目:2013Robot
文件:Camera.java
public void initDefaultCommand()
{
axis = AxisCamera.getInstance();
}
项目:Team_1482_2013
文件:vision.java
vision() {
camera = AxisCamera.getInstance("10.14.82.12");
cc = new CriteriaCollection(); // create the criteria for the particle filter
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA,false);
}
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