Press y, b or r in the thresh_adjust window to switch between colours.

For pitch 1:

Blue: Hmin 79, Smin 78, Vmin 135, Hmax 136, Smax 255, Vmax 255

Yellow: Hmin 0, Smin 0, Vmin 250, Hmax 255, Smax 255, Vmax 255

For pitch 0:

Blue: Hmin 83, Smin 54, Vmin 74, Hmax 115, Smax 255, Vmax 255

Yellow: Hmin 0, Smin 0, Vmin 122, Hmax 75, Smax 106, Vmax 180

All dependancies you will need should be installed by install.sh script.

After the script is run verify that contents of the lib dir contain all the libraries specified in the bottom of the script.

The software that has to be running on the brick in order for the robot to be controlled by our system can be compiled by ./compile-robot.sh . The main control program is Kraken.nxj, the M1*.nxj are a smaller submodules designed to pass milestone 1.

The system is split into two modules that communicate between each other over TCP: the control subsystem and the vision subsystem.

The script run.sh handles the the start/stop of the control subsystem. The list of available options is given by just running run.sh without any parameters.

To run the standalone system without a vision system, that would play against a simulator, use:

./run.sh -s

The pitch setting must be passed in in order to run the code on pitch. This is used to correct for the camera height angle distorting the distances.

To run the control subsystem for the main pitch use

./run.sh -p0

The system tries to connect to the robot automatically when the system is started. Kraken.nxj has to be running on the robot before the run script is started. If you do not want the controller to connect to the robot at all, this can be bypassed by passing the --dummy parameter to run.sh.

You can specify the color and the goal with --color and --goal parameters respectively. This can also be done via the GUI.

In order for the system to be fully functional on the pitch the vision subsystem has to be running.

Run "runvision.sh"

./vision/runvision.sh -p(0|1)

where -p is 0 for the main pitch, or 1 for the other one. See vision.py --help for more options.

To switch between thresholding options for yellow/blue robots and the ball, press y, b and r respectively. To toggle between the raw image or the channel currently being thresholded, press t.

The vision will sometimes break - due to currently unknown reasons. In order to fix it run: ./vision/runvision.sh -p(0|1) -r

This will reset the last known configuration and will restore the vision to a working condition. Make sure to ALWAYS reset the configuration when switching between cameras and computers.

It's currently unknown if the system works on flip-desk computers.