Gold Align Detector

STATUS: NOT COMPETETION READY (Needs Accuracy Improvements)
LAST UPDATED: 9/22/2018 DogeCV 2018.0

About

This detector is also made for the auton sampling section of the game, however this detector only requires the gold to be visable as it returns if the phone is aligned with the gold mineral.

Todo

• Idk its pretty neato, ig ill tune it /shrug

Known Issues

• Somehow works, could use tuning tho

Credits

Details

This detector uses a yellow LeviColorFilter to locate the gold mineral, then checks if the mineral's x positiob is with in a margin relative to the center of the screen.

Usage

Find the location of the bot compare to the mineral in which you want to score the mineral, then tune the margins and position of the detector to match, after that all you you need to in auton is drive until the detector reports that the bot is aligned, then score.

Scorers (See ScoringAPI for tuning each.)

• ratioScorer - a RatioScorer to find perfect squares.
• maxAreaScorer - a MaxAreaScorer to find perfect large objects
• perfectAreaScorer - a PerfectAreaScorer to find tuned size objects. NOTE: In this detector, setting areaScoringMethod will determine which area scorer to use.

Parameters

• areaScoringMethod - (DogeCV.AreaScoringMethod ) - an enum to determine which area scorer to use. (MAX_AREA or PERFECT_AREA)
• ratioScorer - SEE ABOVE
• maxAreaScorer - SEE ABOVE
• perfectAreaScorer - SEE ABOVE
• yellowFilter - (DogeCVColorFilter ) - Filter used to find gold (Defaults to LeviColorFilter(LeviColorFilter.ColorPreset.YELLOW,70))
• alignPosOffset- (double) - Offset from the center of the screen to which to base the align margin.
• alignSize- (double) - How large around the alignPos is the margin

Returned Data

Currently this detector returns the following:

• isFound() - Is the mineral row detected?
• getAligned() - Is the mineral within the margins (aligned)
• getXPosition() - Get the current x position of the mineral

Changelogs

• 2018.0
  • First Public Release.