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Pure CV implementation for Path detection and alignment #176

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9e59630
path_cv in progress
SarangaR Mar 19, 2025
9a25b34
Complete pathCV implementation (path detection using pure cv and cont…
SarangaR Mar 22, 2025
d8cb1fd
fix: remove nix flakes
SarangaR Mar 22, 2025
68fc221
fix: update gitignore
SarangaR Mar 22, 2025
343b26f
feat: changes from March 29th, 2025 pool test
Cowboylaserkittenjetshark Mar 30, 2025
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4 changes: 2 additions & 2 deletions src/missions/coinflip.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -40,10 +40,10 @@ pub fn coinflip<
const TRUE_COUNT: u32 = 4;
const DELAY_TIME: f32 = 3.0;

const DEPTH: f32 = -1.15;
const DEPTH: f32 = -1.75;
const ALIGN_X_SPEED: f32 = 0.0;
const ALIGN_Y_SPEED: f32 = 0.0;
const ALIGN_YAW_SPEED: f32 = -6.0;
const ALIGN_YAW_SPEED: f32 = -3.0;
const ALIGN_YAW_CORRECTION_SPEED: f32 = 0.0;

act_nest!(
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2 changes: 1 addition & 1 deletion src/missions/gate.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ pub fn gate_run_coinflip<
) -> impl ActionExec<anyhow::Result<()>> + '_ {
const TIMEOUT: f32 = 30.0;

let depth: f32 = -1.0;
let depth: f32 = -1.6;

act_nest!(
ActionSequence::new,
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109 changes: 101 additions & 8 deletions src/missions/path_align.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,15 @@ use crate::{
TupleSecond,
},
basic::DelayAction,
extra::{CountTrue, OutputType, Terminal, ToVec},
extra::{CountFalse, CountTrue, OutputType, Terminal, ToVec},
movement::{
LinearYawFromX, OffsetToPose, Stability2Adjust, Stability2Movement, Stability2Pos,
ZeroMovement,
AdjustType, ClampX, FlipX, LinearYawFromX, OffsetToPose, SetY, Stability2Adjust,
Stability2Movement, Stability2Pos, ZeroMovement,
},
vision::{DetectTarget, ExtractPosition, MidPoint, VisionNormBottom},
},
vision::path::Path,
vision::path_cv::PathCV,
};

use super::{
Expand All @@ -33,15 +34,50 @@ pub fn path_align<
>(
context: &Con,
) -> impl ActionExec<()> + '_ {
const DEPTH: f32 = -1.25;
const DEPTH: f32 = -1.5;
const PATH_ALIGN_SPEED: f32 = 0.3;

act_nest!(
ActionSequence::new,
ZeroMovement::new(context, DEPTH),
DelayAction::new(2.0),
ActionWhile::new(ActionChain::new(
VisionNormBottom::<Con, Path, f64>::new(context, Path::default()),
VisionNormBottom::<Con, PathCV, f64>::new(context, PathCV::default()),
TupleSecond::new(ActionConcurrent::new(
act_nest!(
ActionChain::new,
ActionDataConditional::new(
DetectTarget::new(true),
act_nest!(
ActionChain::new,
ExtractPosition::new(),
MidPoint::new(),
OffsetToPose::default(),
// LinearYawFromX::<Stability2Adjust>::new(0.0),
ClampX::new(1.0),
// SetY::<Stability2Adjust>::new(AdjustType::Adjust(0.02)),
// FlipX::default(),
Stability2Movement::new(
context,
Stability2Pos::new(0.0, 0.0, 0.0, 0.0, None, DEPTH),
),
),
act_nest!(
ActionSequence::new,
Terminal::new(),
Stability2Movement::new(
context,
Stability2Pos::new(0.0, PATH_ALIGN_SPEED, 0.0, 0.0, None, DEPTH),
),
),
),
OutputType::<()>::new(),
),
ActionChain::new(DetectTarget::new(true), CountTrue::new(10)),
)),
)),
ActionWhile::new(ActionChain::new(
VisionNormBottom::<Con, PathCV, f64>::new(context, PathCV::default()),
TupleSecond::new(ActionConcurrent::new(
act_nest!(
ActionChain::new,
Expand All @@ -55,21 +91,78 @@ pub fn path_align<
LinearYawFromX::<Stability2Adjust>::default(),
Stability2Movement::new(
context,
Stability2Pos::new(0.0, PATH_ALIGN_SPEED, 30.0, 0.0, None, DEPTH),
Stability2Pos::new(0.0, PATH_ALIGN_SPEED, 0.0, 0.0, None, DEPTH),
),
),
act_nest!(
ActionSequence::new,
Terminal::new(),
Stability2Movement::new(
context,
Stability2Pos::new(0.0, PATH_ALIGN_SPEED, 30.0, 0.0, None, DEPTH),
Stability2Pos::new(0.0, PATH_ALIGN_SPEED, 0.0, 0.0, None, DEPTH),
),
),
),
OutputType::<()>::new(),
),
ActionChain::new(DetectTarget::new(true), CountTrue::new(5)),
ActionChain::new(DetectTarget::new(true), CountTrue::new(10)),
)),
)),
ActionWhile::new(ActionChain::new(
VisionNormBottom::<Con, PathCV, f64>::new(context, PathCV::default()),
TupleSecond::new(ActionConcurrent::new(
act_nest!(
ActionChain::new,
// act_nest!(
// ActionChain::new,
// ActionDataConditional::new(
// DetectTarget::new(true),
// act_nest!(
// ActionChain::new,
// ExtractPosition::new(),
// MidPoint::new(),
// OffsetToPose::default(),
// LinearYawFromX::<Stability2Adjust>::default(),
// Stability2Movement::new(
// context,
// Stability2Pos::new(
// 0.0,
// PATH_ALIGN_SPEED,
// 0.0,
// 0.0,
// None,
// DEPTH
// ),
// ),
// ),
// act_nest!(
// ActionSequence::new,
// Terminal::new(),
// Stability2Movement::new(
// context,
// Stability2Pos::new(
// 0.0,
// PATH_ALIGN_SPEED,
// 0.0,
// 0.0,
// None,
// DEPTH
// ),
// ),
// ),
// OutputType::<()>::new(),
// ),
act_nest!(
ActionSequence::new,
Terminal::new(),
Stability2Movement::new(
context,
Stability2Pos::new(0.0, PATH_ALIGN_SPEED / 1.5, 0.0, 0.0, None, DEPTH),
),
),
OutputType::<()>::new(),
),
ActionChain::new(DetectTarget::new(true), CountFalse::new(5)),
)),
)),
Terminal::new(),
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1 change: 1 addition & 0 deletions src/vision/mod.rs
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Expand Up @@ -22,6 +22,7 @@ pub mod image_prep;
pub mod nn_cv2;
pub mod octagon;
pub mod path;
pub mod path_cv;
pub mod pca;
pub mod yolo_model;

Expand Down
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