Changes to code

Mercury1089 · Feb 20, 2017 · ece7538 · ece7538
1 parent 1b7450a
commit ece7538
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Showing 4 changed files with 26 additions and 18 deletions.
diff --git a/config/vision_gripless.grip b/config/vision_gripless.grip
@@ -1,16 +1,16 @@
 <edu.wpi.grip.core.Pipeline>
   <sources>
     <edu.wpi.grip.core.sources.CameraSource>
-      <property name="address" value="http://10.10.89.20:1188/stream.mjpg"/>
+      <property name="address" value="http://10.10.89.20:1187/stream.mjpg"/>
     </edu.wpi.grip.core.sources.CameraSource>
   </sources>
   <steps>
     <edu.wpi.grip.core.Step name="HSL Threshold">
       <edu.wpi.grip.core.sockets.InputSocketImpl step="0" socket="0"/>
       <edu.wpi.grip.core.sockets.InputSocketImpl step="0" socket="1">
         <value>
-          <double>69.60429759580393</double>
-          <double>94.94890927847149</double>
+          <double>45.32372205623558</double>
+          <double>70.90230375426623</double>
         </value>
       </edu.wpi.grip.core.sockets.InputSocketImpl>
       <edu.wpi.grip.core.sockets.InputSocketImpl step="0" socket="2">
@@ -21,8 +21,8 @@
       </edu.wpi.grip.core.sockets.InputSocketImpl>
       <edu.wpi.grip.core.sockets.InputSocketImpl step="0" socket="3">
         <value>
-          <double>32.692307692307686</double>
-          <double>255.0</double>
+          <double>80.84878251245158</double>
+          <double>133.1569965870307</double>
         </value>
       </edu.wpi.grip.core.sockets.InputSocketImpl>
       <edu.wpi.grip.core.sockets.OutputSocketImpl step="0" socket="0" previewed="true"/>
@@ -37,7 +37,7 @@
     <edu.wpi.grip.core.Step name="Filter Contours">
       <edu.wpi.grip.core.sockets.InputSocketImpl step="2" socket="0"/>
       <edu.wpi.grip.core.sockets.InputSocketImpl step="2" socket="1">
-        <value>20.0</value>
+        <value>100.0</value>
       </edu.wpi.grip.core.sockets.InputSocketImpl>
       <edu.wpi.grip.core.sockets.InputSocketImpl step="2" socket="2">
         <value>0.0</value>

diff --git a/src/org/usfirst/frc/team1089/robot/subsystems/Gear.java b/src/org/usfirst/frc/team1089/robot/subsystems/Gear.java
@@ -7,12 +7,7 @@
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
- * The Gear Delivery Mechanism
- * 
- * @author Luke Letourneau
- * @version 1
- * 
- * {@link}
+ *
  */
 public class Gear extends Subsystem {
 

diff --git a/src/org/usfirst/frc/team1089/robot/subsystems/Ultrasonic.java b/src/org/usfirst/frc/team1089/robot/subsystems/Ultrasonic.java
@@ -15,7 +15,9 @@ public class Ultrasonic extends Subsystem {
     // here. Call these from Commands.
 
 	private AnalogInput ultrasonic;
-	private final double SCALING_FACTOR = 1/9.8;
+
+	/** Scaling factor - in / volts */
+	private final double SCALING_FACTOR = 1/9.8; 
 
     public Ultrasonic() {
     	ultrasonic = new AnalogInput(RobotMap.Analog.ULTRASONIC);
@@ -26,13 +28,13 @@ public AnalogInput getUltrasonic() {
     }
 
     /**
-     * Multiplies Analog Voltage on the sensor by the scaling factor in inches/V
-     * Scaling Factor = 9.8 V/inches
-     * Converts to Feet
-     * @return Distance
+     * Gets the range between the rangefinder board and the object across from it
+     * as perceived by the rangefinder by getting the voltage and multiplying it by the scaling factor
+     * 
+     * @return range between the board and the object across from it in inches
      */
     public double getRange() {
-    	return ultrasonic.getVoltage() * SCALING_FACTOR / 12;
+    	return ultrasonic.getVoltage() * SCALING_FACTOR;
     }
 
     public void initDefaultCommand() {

diff --git a/src/org/usfirst/frc/team1089/robot/util/VisionProcessor.java b/src/org/usfirst/frc/team1089/robot/util/VisionProcessor.java
@@ -227,6 +227,17 @@ public double getAngleFromCenter(TargetType type) {
 		return Math.abs(ratio * hfov) > 1.0 ? ratio * hfov : 0.0;
 	}
 
+	/**
+	 * <pre>
+	 * public double[] getAnglesFromGearTargets()
+	 * </pre>
+	 * 
+	 * Gets the angles that the robot needs 
+	 * to turn to center itself to the left and right target
+	 * 
+	 * @return array of angles that the robot can turn to to face the left or right target;
+	 *         left target is element 1, right target is element 2
+	 */
 	public double[] getAnglesFromGearTargets() {
 		double centerX1, centerX2, dist1, dist2,  ratio1, ratio2, hfov, hres;
 		double[] output = new double[2];