This year, the robot had 3 Odroids installed. They were all running OpenCV, ROS kinetic, and Ubuntu. ROS (Robot Operating System), Allows for us to record all of our matches at 30 frames per second, which is useful alone, but we can also feed this data back through the robot, and the code will process it as if it was the camera, meaning we could simulate matches in our work pit.
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This year I wrote a program that allows us to train our robot's vision to actually recognize gears based on how they look, allowing for it to automatically find and place them. After using all of the recorded Data from our Three tournaments, a classifier has been trained to recognize gears.
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This program is designed to locate the Peg on the Airship on the FRC Steamworks field. The camera is mounted looking through a light ring, and locates the light reflected off of the tape, then determines where the peg is based on that. The code also runs a check to ensure that when viewing the peg from an angle it will still see the tape as one unit.
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