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);
}
private void config(AxisConfigPackage pack) {
cam.writeColorLevel(pack.color());
cam.writeBrightness(pack.brightness());
cam.writeExposureControl(pack.exposure());
cam.writeResolution(pack.resolution());
cam.writeExposurePriority(pack.exposurePriority());
cam.writeRotation(pack.rotation());
}
public AxisCamera() {
color = Constants.CAM_COLOR;
brightness = Constants.CAM_BRIGHT;
resolution = Constants.CAM_RES;
cam = edu.wpi.first.wpilibj.camera.AxisCamera.getInstance();
cam.writeResolution(resolution);
cam.writeColorLevel(color);
cam.writeBrightness(brightness);
}
/** Initialize the camera. */
public void init() {
robotCamera = AxisCamera.getInstance();
// To be replaced with image processing code
// Sets axis camera stuff at the beginning of the robot
robotCamera.writeMaxFPS(15);
robotCamera.writeCompression(70);
robotCamera.writeColorLevel(100);
robotCamera.writeResolution(AxisCamera.ResolutionT.k320x240);
robotCamera.writeBrightness(50);
}
public void robotInit() {
try {
drive_control = new Joystick(1);
control = new Joystick(2);
drive = new Drive();
station = DriverStationLCD.getInstance();
camera = AxisCamera.getInstance();
camera.writeResolution(AxisCamera.ResolutionT.k320x240);
camera.writeBrightness(0);
camera.writeMaxFPS(10);
launcher = new CANJaguar(7);
belt1 = new Relay(1);
// belt1.setDirection(Relay.Direction.kBoth);
belt2 = new CANJaguar(8);
turret = new Victor(4);
/*launcher.setPID(0.5, 0.001, 0.0);
launcher.configEncoderCodesPerRev(360);
launcher.changeControlMode(CANJaguar.ControlMode.kSpeed);
launcher.enableControl();*/
launcher.configEncoderCodesPerRev(360);
launcher.setSpeedReference(CANJaguar.SpeedReference.kQuadEncoder);
launcher.setPositionReference(CANJaguar.PositionReference.kQuadEncoder);
/*wheelEncoder = new Encoder(1, 2, true, CounterBase.EncodingType.k4X);
wheelEncoder.setDistancePerPulse(1);
wheelEncoder.setReverseDirection(true);
wheelEncoder.start();*/
csc = new CANSpeedController(.02, 0, 0, launcher);
csc.setInputRange(0, 3000);
csc.enable();
timer = new Timer();
// tracking = new EagleEye();
lights = new Relay(3);
/*try {
serial = new SerialPort(115200);
} catch (Exception ex) {
System.out.println("Cannot open serial connection " + ex);
}*/
} catch (CANTimeoutException ex) {
System.out.println(ex);
}
wedge = new wedge(2, 1, 2);
// servo1 = new Servo(1);
// servo2 = new Servo(2);
// wedge = new Relay(2);
}