public TargetFinder() {
    System.out.println("TargetFinder() begin " + Timer.getFPGATimestamp());

    cam = AxisCamera.getInstance();
    cam.writeResolution(AxisCamera.ResolutionT.k320x240);
    cam.writeBrightness(camBrightness);
    cam.writeColorLevel(camColor);
    cam.writeWhiteBalance(camWhiteBalance);
    cam.writeExposureControl(camExposure);
    cam.writeMaxFPS(15);
    cam.writeExposurePriority(AxisCamera.ExposurePriorityT.none);
    cam.writeCompression(50);
    // System.out.println("TargetFinder() * " + cam.toString() + "[" + Timer.getFPGATimestamp());
    boxCriteria = new CriteriaCollection();
    inertiaCriteria = new CriteriaCollection();
    boxCriteria.addCriteria(
        NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH, 30, bboxWidthMin, false);
    boxCriteria.addCriteria(
        NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT, 40, bboxHeightMin, false);
    inertiaCriteria.addCriteria(
        NIVision.MeasurementType.IMAQ_MT_NORM_MOMENT_OF_INERTIA_XX, 0, inertiaXMin, true);
    inertiaCriteria.addCriteria(
        NIVision.MeasurementType.IMAQ_MT_NORM_MOMENT_OF_INERTIA_YY, 0, inertiaYMin, true);
    Timer.delay(7);
  }
Ejemplo n.º 2
0
  /**
   * This function is run when the robot is first started up and should be used for any
   * initialization code.
   */
  public void robotInit() {
    black = new Jaguar(4, 1);
    red = new Jaguar(4, 2);
    leftEncoder = new Encoder(4, 5);
    rightEncoder = new Encoder(6, 7);
    left = new Joystick(1);
    right = new Joystick(2);
    gamePad = new Joystick(3);
    watchdog = Watchdog.getInstance();
    dsLCD = DriverStationLCD.getInstance();
    photoreceptorL = new DigitalInput(4, 1);
    photoreceptorM = new DigitalInput(4, 2);
    photoreceptorR = new DigitalInput(4, 3);
    camera = AxisCamera.getInstance();
    driveMode = 0; // 0 = Tank; 1 = Arcade; 2 = Kaj
    driveToggle = false;
    cruiseControl = false;

    camera.writeResolution(AxisCamera.ResolutionT.k160x120);
    camera.writeWhiteBalance(AxisCamera.WhiteBalanceT.hold);
    camera.writeExposureControl(AxisCamera.ExposureT.hold);
    camera.writeExposurePriority(AxisCamera.ExposurePriorityT.frameRate);

    leftEncoder.start();
    rightEncoder.start();
  }