/**
* Constructor for this robot subclass.
* Create an instance of a RobotDrive with left and right motors
* plugged into PWM ports 1 and 2 on the first digital module. The two
* servos are PWM ports 3 and 4.
*/
VisionServoDemo(void)
{
ds = DriverStation::GetInstance();
myRobot = new RobotDrive(1, 2, 0.5); // robot will use PWM 1-2 for drive motors
rightStick = new Joystick(1); // create the joysticks
leftStick = new Joystick(2);
horizontalServo = new Servo(3); // create horizontal servo
verticalServo = new Servo(4); // create vertical servo
servoDeadband = 0.01; // move if > this amount
sinStart = 0.0; // control whether to start panning up or down
m_pDashboard = &(m_ds->GetDashboardPacker());
/* set up debug output:
* DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY,
* DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE
*/
SetDebugFlag(DEBUG_FILE_ONLY);
/* start the CameraTask */
if (StartCameraTask(20, 0, k160x120, ROT_180) == -1)
{
DPRINTF(LOG_ERROR,
"Failed to spawn camera task; exiting. Error code %s",
GetVisionErrorText(GetLastVisionError()));
}
m_pVideoServer = new PCVideoServer;
/* allow writing to vxWorks target */
Priv_SetWriteFileAllowed(1);
/* stop the watchdog if debugging */
GetWatchdog().SetEnabled(false);
}
/**
* Internal method that actually writes the table to a file.
* This is called in its own thread when {@link Preferences#Save() Save()} is called.
*/
void Preferences::WriteTaskRun()
{
Synchronized sync(m_tableLock);
semGive(m_fileOpStarted);
FILE *file = NULL;
Priv_SetWriteFileAllowed(1);
file = fopen(kFileName, "w");
fputs("[Preferences]\n", file);
std::vector<std::string>::iterator it = m_keys.begin();
for (; it != m_keys.end(); it++)
{
std::string key = *it;
std::string value = m_values[key];
std::string comment = m_comments[key];
if (!comment.empty())
fputs(comment.c_str(), file);
fputs(key.c_str(), file);
fputs(kValuePrefix, file);
fputs(value.c_str(), file);
fputs(kValueSuffix, file);
}
if (!m_endComment.empty())
fputs(m_endComment.c_str(), file);
if (file != NULL)
fclose(file);
NetworkTable::GetTable(kTableName)->PutBoolean(kSaveField, false);
}
/**
* Constructor for this robot subclass.
* Create an instance of a RobotDrive with left and right motors plugged into PWM
* ports 1 and 2 on the first digital module. The two servos are PWM ports 3 and 4.
* Tested with camera settings White Balance: Flurorescent1, Brightness 40, Exposure Auto
*/
TwoColorDemo(void)
{
ds = DriverStation::GetInstance();
myRobot = new RobotDrive(1, 2, 0.5); // robot will use PWM 1-2 for drive motors
rightStick = new Joystick(1); // create the joysticks
leftStick = new Joystick(2);
// remember to use jumpers on the sidecar for the Servo PWMs
horizontalServo = new Servo(9); // create horizontal servo on PWM 9
verticalServo = new Servo(10); // create vertical servo on PWM 10
servoDeadband = 0.01; // move if > this amount
framesPerSecond = 15; // number of camera frames to get per second
sinStart = 0.0; // control where to start the sine wave for pan
memset(&par, 0, sizeof(par)); // initialize particle analysis report
/* image data for tracking - override default parameters if needed */
/* recommend making PINK the first color because GREEN is more
* subsceptible to hue variations due to lighting type so may
* result in false positives */
// PINK
sprintf(td1.name, "PINK");
td1.hue.minValue = 220;
td1.hue.maxValue = 255;
td1.saturation.minValue = 75;
td1.saturation.maxValue = 255;
td1.luminance.minValue = 85;
td1.luminance.maxValue = 255;
// GREEN
sprintf(td2.name, "GREEN");
td2.hue.minValue = 55;
td2.hue.maxValue = 125;
td2.saturation.minValue = 58;
td2.saturation.maxValue = 255;
td2.luminance.minValue = 92;
td2.luminance.maxValue = 255;
/* set up debug output:
* DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE
*/
SetDebugFlag(DEBUG_SCREEN_ONLY);
/* start the CameraTask */
if (StartCameraTask(framesPerSecond, 0, k320x240, ROT_0) == -1)
{
DPRINTF(LOG_ERROR,
"Failed to spawn camera task; exiting. Error code %s",
GetVisionErrorText(GetLastVisionError()));
}
/* allow writing to vxWorks target */
Priv_SetWriteFileAllowed(1);
/* stop the watchdog if debugging */
GetWatchdog().SetExpiration(0.5);
GetWatchdog().SetEnabled(false);
}
/**
* Write a binary image to flash.
* Writes the binary image to flash on the cRIO for later inspection.
* @param fileName the name of the image file written to the flash.
*/
void BinaryImage::Write(const char *fileName)
{
RGBValue colorTable[256];
Priv_SetWriteFileAllowed(1);
memset(colorTable, 0, sizeof(colorTable));
colorTable[0].R = 0;
colorTable[1].R = 255;
colorTable[0].G = colorTable[1].G = 0;
colorTable[0].B = colorTable[1].B = 0;
colorTable[0].alpha = colorTable[1].alpha = 0;
imaqWriteFile(m_imaqImage, fileName, colorTable);
}
TargetDetector::TargetDetector(void)
{
ds = DriverStation::GetInstance();
framesPerSecond = 15; // number of camera frames to get per second
cameraRotation = ROT_0; // input parameter for camera orientation
memset(&par,0,sizeof(par)); // initialize particle analysis report
/* image data for tracking - override default parameters if needed */
/* recommend making PINK the first color because GREEN is more
* subsceptible to hue variations due to lighting type so may
* result in false positives */
// PINK
sprintf (td1.name, "PINK");
td1.hue.minValue = 220;
td1.hue.maxValue = 255;
td1.saturation.minValue = 75;
td1.saturation.maxValue = 255;
td1.luminance.minValue = 85;
td1.luminance.maxValue = 255;
// GREEN
sprintf (td2.name, "GREEN");
td2.hue.minValue = 55;
td2.hue.maxValue = 125;
td2.saturation.minValue = 58;
td2.saturation.maxValue = 255;
td2.luminance.minValue = 92;
td2.luminance.maxValue = 255;
/* set up debug output:
* DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE
*/
SetDebugFlag(DEBUG_SCREEN_ONLY);
/* start the CameraTask */
if (StartCameraTask(framesPerSecond, 0, k320x240, ROT_180) == -1)
{
DPRINTF( LOG_ERROR,"Failed to spawn camera task; exiting. Error code %s",
GetVisionErrorText(GetLastVisionError()) );
}
Wait(1.0);
StartImageAcquisition();
/* allow writing to vxWorks target */
Priv_SetWriteFileAllowed(1);
savedImageTimestamp = 0.0;
}
/**
* Writes an image to a file with the given filename.
* Write the image to a file in the flash on the cRIO.
* @param fileName The name of the file to write
*/
void ImageBase::Write(const char *fileName)
{
Priv_SetWriteFileAllowed(1);
int success = imaqWriteFile(m_imaqImage, fileName, NULL);
wpi_setImaqErrorWithContext(success, "Imaq Image writeFile error");
}
/**
* @brief Sets the directory in which to save the logfile.
* @param directory The directory to save logs in.
*
* @author Arthur Lockman
*/
void LogSystem::SetDirectory(const char* directory)
{
strcpy(m_logDirectory, directory);
Priv_SetWriteFileAllowed(1);
}
