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);
}
/**
* 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();
}
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());
}
