ENGR421 Team 4, Spring 2013

Dean Reading -- Electrical

Emily Dunham -- Software

Minna O'Brien -- Mechanical

Team web site

Note:

As of June 2013, this code base is no longer under active development and will not be tested or maintained. You're welcome to use it (see LICENSE for details) but be warned that it might not work with newer versions of its dependencies.

Laptop software

Vision code written and maintained by edunham unless marked otherwise.

All python code requires OpenCV libraries to run. ymmv with the versions in your package manger; my cv2.version is Rev 4557

Arduino software

Arduino code written and maintained by Dean Reading unless marked otherwise.

The .ino files require the Arduino IDE thing to run, which is named arduino and can be installed from one's package manager.

Wiring Notes

Yellow is to 12V, red is to 5V. Do not plug it in backwards or the board will fry .

To Run Program

Calibrate the fixed values in Crossfire_Program.ino such that the shooters point straight ahead when the laptop sends them 90 degrees. Verify that they don't fall off the board at max left and max right. Plug in all the wires to the correct pins, determined by reading the Arduino program's source.

Invoke main.py with l, c, and r for left, right, and center shooters -- give it the letters of the ones you want in this game, separated by spaces. Also indicate whether to use new or old strategy. If Arduino is not plugged in, pass 'fake'. Thus:

$ python main.py l c r new

will run it. On the still image, click top left, bottom left, top right, and bottom right intersections between robot line and edge of board. Any keystroke while the program is running will cause it to abort.

If auto-threshholding is enabled (the cam.adj_thresh() line in main.py isn't commented out), the program will seek the best threshhold for detecting 2 pucks under the current lighting conditions. If lighting is uneven, try lowering the second argument to adj_thresh. If lighting is consistent across the field, a higher stability value will be required.