Embedded Files
Competition Configuration and Setup
Competition Configuration and Setup
We are following a similar process to what Limelight recommends and provides. We don't like this process exactly because it doesn't allow for consistent April Tag tracking and accurate/steady odometry. We slightly modified this process to follow an IQR graph, and this will allow for a more accurate rough estimation.
These settings are required to be tuned, however the following step are a rough guideline and every field/competition will be slightly different.
Set Sensor Gain to 15 and Exposure to 0.
Slowly increase the Exposure until the detection of a group of April Tags is solid. Record this number as Q1.
Set Exposure to the Max value and slowly decrease until the detections are solid, just like step 2. Record this number as Q3.
This equation will find the middle between Q1 and the Median. This is the number that you should be using ((Q3 - Q1)/4 + Q1).
Do steps 2 through 4 for Sensor Gain instead of Exposure, but Q1 is always going to be 15.
Verification of April Tags
Verification of April Tags
The goal of putting the camera on top of the SPIKE Marks and pointing them at the according tags allows us to verify the accuracy of our Limelight and the field setup. The setup consists of putting the Limelight on each of the marks, pointing towards the correct April Tags that we will be verifying, and comparing the following data. You should look at the BotPose for the alliance side that you are on, and compare the following values. Our maximum tolerance of inaccuracy between the values is 0.1 Meters (≈ 4 Inches) at our shop, but it may be more at competitions. If value differences far exceed 0.1 they recheck that you are using the correct numbers.
BotPoseRed
Red Top (2.9, 1.2)
Red Middle (2.9, 2.65)
Red Bottom (2.9, 4.1)
BotPoseBlue
Blue Top (2.9, 1.2)
Blue Middle (2.9, 2.65)
Blue Bottom (2.9, 4.1)
Verification of Limelight & April Tags Setup
Verification of Limelight & April Tags Setup
This is the list of things that you need in order to test the previously mention items
Limelight (Preferably limelight-front)
Test Limelight Mount
Limelight stand
4 Screws
Ethernet Cable
Batter to POE cable
Laptop (Check here for setup instructions)
Tape Measure
How to Verify the Limelight's Accuracy
How to Verify the Limelight's Accuracy
In order to verify the accuracy of the odometry the Limelight's are providing, you must use some of the tools Advantage Scope provides. You should have the robot odometry open in one tab and the video feed of the match in the other. Here is a step by step list on how to do this.
Download the Logs off of the robot after the match or competition
Click File>Open and then select the Log file from the match
Get video feed of the match the robot just played. This can be recorded manually over phone and sent to the laptop, downloaded off of TheBlueAlliance, or it is optional to just put the phone that recorded the match in front of the laptop if Wi-Fi is bad.
Click the plus sign on the right of the screen and create a Video page
You can upload the downloaded video file using the left button or a Youtube URL using the middle button, and let the file upload (Represented via the blue loaded bar at the bottom)
Drag the top slider to right when the green starts. Drag the bottom slider to the exact start when the robot's RSL starts to flash.
Click the lock icon to the left to synchronize the footage
Click the plus sign on the right of the screen and create an Odometry page
Select the Logged odometry and drag it to the Poses menu
Press the Open in New Window button and then swap over to the Video tab and hit play. This will play the video and the logged odometry in sync.
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