autobot

Fully autonomous FRC robot (WIP)

localization

Practical inside-out localization for FRC.

This project is currently in it's very early stages.

Quickstart

Prerequisites

• Python 2.7
• Windows 7 or greater, Mac OS Yosemite or greater, or Debian/Ubuntu 16.04 or greater.
• A USB or integrated webcam

Setup

Install Dependencies:

$ pip install opencv-python
$ pip install opencv-contrib-python
$ pip install numpy

Set Up Targets:

1. Print 2 4x4 ArUco vision targets with IDs 0 and 1 at http://chev.me/arucogen/.

2. Post the ArUco targets on a wall with the same height from the ground vertically but a few feet apart horizontally. The target with ID 0 should be on the left and the target with ID 1 should be on the right.

3. Measure the distance between the targets (in inches) and set the _target_dist variable in demo.py to match your measurement.

4. Also in demo.py, change the variables that start with _config_camera to fit your camera's specs.

Run:

Run the demo:

python demo.py

Coordinates are displayed in the bottom left corner and are in units of inches.

To stop the demo, press q while focused on the display window.