2018 Robot Code

Robot Code from the 2018 season, Power Up, for 3284's Howitzer.

Branches

"master" branch contains most development and changes. All other branches should be forked from master.
"release" branch contains the most current stable code. This code should be tested thoroughly and working.
"vision" branch contains our Vision code for running on the Raspberry Pi for 2018.

Getting it to run

Generally, you can compile it however you'd like using FRC Toolchains.

Vision Processing

Current working version of object tracking with the Raspberry Pi 3. Also includes new version equiped with multi-threading and a web interface for adjusting values on the fly. Built with Python 2.7 using OpenCV 3.3 libraries and pynetworktables with monotonic.

Other Folders:

Values:

This folder is meant to be placed on the desktop of the Raspberry Pi allowing the program to organize and store track-bar values.

Overclocking:

This folder contains files that need to replace other files on the filesystem of the Raspberry Pi. Replace the config.txt in the /boot/ directory and place the other files on the desktop(this is the overclocking settings). Make sure to add cpu_governor.sh to autostart in /etc/rc.local file (remove CPU throttling).

Also note, if you want the vision program to autostart add the directory and command to start it to the rc.local in /etc/.

How to Setup the Web Interface

First, a webserver such as Apache2 or NGINX needs to be installed on your linux machine. We use Apache2 as it is relatively simple and fast to setup. To install Apache open a terminal and type: sudo apt install apache2. After the installation completes drop the contents of web_interface into /var/www/html and reboot the linux machine.

To visit the website type the hostname of your computer or its IP address. For example, if your useing a raspberry pi you could type raspberrypi.local.

Vision Tuning Dashboard

Running Vision Tracking:

To run the program make sure to chmod a+x the entire directory containing the vision files. This allows the program to access the files storing the track-bar values. If you need help with the arguments to pass in just type: sudo python VisionMain.py -h (output is below.)

usage: VisionMain.py [-h] [--source SOURCE] [--thread THREAD] [--gui GUI]

optional arguments:
    -h, --help            show this help message and exit
    --source SOURCE, -s SOURCE
                            Path to video file or integer representing webcam
                            index (default 0).
    --thread THREAD, -t THREAD
                            Threading mode: all (video read and video show in
                            their own threads), none (default--no multithreading)
    --gui GUI, -g GUI     Graphical User Interface: yes (show video windows for 
                            vision tuning), no (default, run supa fast)
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