I just added global ball to the vision framework. This is a filter that keeps track of the absolute position of the ball on the field. It still needs testing and appropriate parameters set. Of course, I’m fully confident that will take no time at all.
We’ve scored our first (non-setup) goal! Woot!
GermanTeam here we come!
Because we obviously haven’t been blogging.
Check out: dribbling1.mp4 and dribbling2.mp4.
Gone is the ‘os’ script–just use the ‘ins’ script from now on. The ‘os’ script will remain if you want to wipe the mem stick and keep our code off of it.
I just added a pre-compiled binary of AiboConnect to the root /dog/ directory, which is just an quickly-accessible AiboConnect for seeing the thresholded vision image while the dog is executing its own brain. Useful for debugging, i’ve found. Use it exactly like any other aiboConnect: ./dogSight
Relativity.cc -> VerticalScan.cc and SubVision.cc , split up for the two different vision systems, the old vertican scanning style and the newer relativity, subvision technique. Theoretically, the subvision still uses vertical scanning, but whatever. Both files are still within the Vision class and are not their own classes.
If you can’t find any of the modules, it’s because they’ve moved. They are not in the /modules/ directory anymore and are instead in the /dog/ directory. Also, if you can’t find the Chlaos module, it’s because I’ve renamed it to Motion.
Not sure how long the link will hold, but here it goes from the Wall Street Journal: In This Soccer Match, Players Are Robotic But That’s the Goal
It’s a pretty cool article about UPenn and UT Austin Villa and RoboCup’s forever entanglement with real soccer.
Yo–I moved NotifyImage (and thus all the calls to the vision processing, brain functioning) and NotifySensors methods into Vision.cc for simplicity. It just got annoying going into Interobject.cc all the time.
Also, because we keep switching between the two vision systems, between color table thresholding and our old vision.cfg thresholding, between using localization and not, using python and not, using the brain and not, etc–I’ve implemented a bunch of #ifdef and #ifndef preprocessors to make this toggling easier. Basically: no more commenting out methods or large swathes of code in NotifyImage–just comment/uncomment the #define switches at the top of the file. This should make things a lot easier.
Lastly, I’ve begun to make the sensors more useful. Initially, it’s just the touch sensors but I’m going to give some people the job of using distance sensors and acceleration estimators to some kind of advantage. Hopefully some dead reckoning and some extra distance estimation will work out.
Development comes to a crawl as our team heads for various corners of the map for spring break.
Here’s a list of teams registered for the U.S. Open 2006. Looks like Germany will be making another appearence in the U.S. Should be great fun!
Look for lots of exciting developments in the weeks to come!