got vision code actually working (and somewhat tuned) but it crashes
diff --git a/vision/SensorProcessor.h b/vision/SensorProcessor.h
index c219245..daf24be 100644
--- a/vision/SensorProcessor.h
+++ b/vision/SensorProcessor.h
@@ -10,27 +10,31 @@
} Interpolation;
static const Interpolation kPixelsToMeters[] = {
- {43.0 / 320.0, 12.573},
- {98.0 / 320.0, 6.604},
- {145.75 / 320.0, 4.420},
- {216.75 / 320.0, 2.794},
+ {-0.050781, 4.7498},
+ {-0.0375, 4.318},
+ {0.028125, 3.9878},
+ {0.080469, 3.51},
+ {0.126563, 3.1496},
+ {0.131, 2.9972},
+ {0.144, 2.921},
+ {0.196, 3.2258},
+ // Below here is junk because it starts coming off of the tower base.
+ {0.296875, 2.667},
+ {0.351562, 2.3876},
};
// Must be in reverse order in meters.
static const Interpolation kMetersToShooterSpeeds[] = {
- {12.5, 375.0},
- {21.0, 360.0},
- {25.0, 375.0},
+ {2.0, 375.0},
+ {3.0, 360.0},
+ {4.5, 375.0},
};
static const Interpolation kMetersToShooterAngles[] = {
- {0.0, 0.7267},
- {12.5, 0.7267},
- {16.5, 0.604},
- {18.0, 0.587},
- {20.0, 0.576},
- {21.0, 0.550},
- {23.0, 0.540},
+ {3.0, 0.68},
+ {3.7, 0.635},
+ {4.15, 0.58},
+ {5.0, 0.51},
};
double interpolate(int num_interp_vals,