Merge changes Ifbe2348f,Ie5e236b3,I79499c1d,I82072de1
* changes:
Recalibrated back camera after tightening the bolts
Retuned setpoints for the elevator at Utah
Tune rejection score to work on the side of the cargo ship
Raise exposure slightly at Utah so we can see further
diff --git a/y2019/control_loops/drivetrain/localizer.h b/y2019/control_loops/drivetrain/localizer.h
index 58b6901..1571fec 100644
--- a/y2019/control_loops/drivetrain/localizer.h
+++ b/y2019/control_loops/drivetrain/localizer.h
@@ -100,7 +100,7 @@
// The threshold to use for completely rejecting potentially bad target
// matches.
// TODO(james): Tune
- static constexpr Scalar kRejectionScore = 1000000.0;
+ static constexpr Scalar kRejectionScore = 1.0;
// Checks that the targets coming in make some sense--mostly to prevent NaNs
// or the such from propagating.
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 665714e..645582d 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -109,21 +109,21 @@
const ElevatorWristPosition kPanelCargoBackwardPos{0.0, -M_PI / 2.0};
const ElevatorWristPosition kBallForwardLowerPos{0.21, 1.27};
-const ElevatorWristPosition kBallBackwardLowerPos{0.40, -1.99};
+const ElevatorWristPosition kBallBackwardLowerPos{0.43, -1.99};
-const ElevatorWristPosition kBallForwardMiddlePos{0.90, 1.21};
-const ElevatorWristPosition kBallBackwardMiddlePos{1.17, -1.98};
+const ElevatorWristPosition kBallForwardMiddlePos{0.925, 1.21};
+const ElevatorWristPosition kBallBackwardMiddlePos{1.19, -1.98};
const ElevatorWristPosition kBallForwardUpperPos{1.51, 0.961};
const ElevatorWristPosition kBallBackwardUpperPos{1.44, -1.217};
-const ElevatorWristPosition kBallCargoForwardPos{0.739044, 1.353};
-const ElevatorWristPosition kBallCargoBackwardPos{0.868265, -1.999};
+const ElevatorWristPosition kBallCargoForwardPos{0.59, 1.2};
+const ElevatorWristPosition kBallCargoBackwardPos{0.868265, -2.1};
const ElevatorWristPosition kBallHPIntakeForwardPos{0.55, 1.097};
const ElevatorWristPosition kBallHPIntakeBackwardPos{0.89, -2.018};
-const ElevatorWristPosition kBallIntakePos{0.29, 2.14};
+const ElevatorWristPosition kBallIntakePos{0.309, 2.13};
class Reader : public ::aos::input::ActionJoystickInput {
public:
@@ -321,7 +321,7 @@
if (switch_ball_) {
if (kDoBallOutake ||
(kDoBallIntake &&
- monotonic_now < last_not_has_piece_ + chrono::milliseconds(100))) {
+ monotonic_now < last_not_has_piece_ + chrono::milliseconds(200))) {
new_superstructure_goal->intake.unsafe_goal = 0.959327;
}
diff --git a/y2019/vision/calibrate.sh b/y2019/vision/calibrate.sh
index 24118ed..7b7ba4f 100755
--- a/y2019/vision/calibrate.sh
+++ b/y2019/vision/calibrate.sh
@@ -21,9 +21,9 @@
--tape_direction_x=-1.0 \
--tape_direction_y=0.0 \
--beginning_tape_measure_reading=11 \
- --image_count=75 \
+ --image_count=69 \
--constants=constants.cc \
- --prefix data/cam10_0/debug_viewer_jpeg_
+ --prefix data/cam10_1/debug_viewer_jpeg_
calibration \
--camera_id 6 \
diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index 36694f8..fabe75c 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -133,20 +133,20 @@
CameraCalibration camera_10 = {
{
- -0.190556 / 180.0 * M_PI, 345.022, 0.468494 / 180.0 * M_PI,
+ -0.305107 / 180.0 * M_PI, 336.952, -0.0804389 / 180.0 * M_PI,
},
{
- {{-4.83005 * kInchesToMeters, 2.95565 * kInchesToMeters,
- 33.3624 * kInchesToMeters}},
- 182.204 / 180.0 * M_PI,
+ {{-5.64467 * kInchesToMeters, 2.41348 * kInchesToMeters,
+ 33.1669 * kInchesToMeters}},
+ 181.598 / 180.0 * M_PI,
},
{
10,
{{-12.5 * kInchesToMeters, 0.0}},
{{-1 * kInchesToMeters, 0.0}},
11,
- "data/cam10_0/debug_viewer_jpeg_",
- 75,
+ "data/cam10_1/debug_viewer_jpeg_",
+ 69,
}};
CameraCalibration camera_14 = {
diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
index 4344cc9..b33d7ab 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -88,7 +88,7 @@
bool log_images = false;
aos::vision::CameraParams params0;
- params0.set_exposure(50);
+ params0.set_exposure(60);
params0.set_brightness(40);
params0.set_width(640);
params0.set_fps(15);