wip: post aug 12th

Author: Cowboylaserkittenjetshark

src/comms/control_board/mod.rs

@@ -129,7 +129,7 @@ impl<T: 'static + AsyncWriteExt + Unpin + Send> ControlBoard<T> {
             .await?;
         self.stability_assist_pid_tune('Y', 2.0, 0.0, 0.0, 0.1, false)
             .await?;
-        self.stability_assist_pid_tune('Z', 10.0, 0.0, 0.0, 1.0, false)
+        self.stability_assist_pid_tune('Z', 6.0, 0.0, 0.0, 1.0, false)
             .await?;
         self.stability_assist_pid_tune('D', 1.5, 0.0, 0.0, 1.0, false)
             .await

src/missions/coinflip.rs

@@ -1,5 +1,6 @@
 use itertools::Itertools;
 use tokio::io::WriteHalf;
+use tokio::time::{sleep, Duration};
 use tokio_serial::SerialStream;
 
 use crate::{
@@ -56,7 +57,7 @@ pub async fn coinflip_procedural<
     let DEPTH = config.depth;
 
     let _ = cb
-        .stability_2_speed_set(0.0, 0.0, 0.0, 0.0, initial_yaw, DEPTH)
+        .stability_1_speed_set(0.0, 0.0, config.angle_correction, 0.0, 0.0, DEPTH)
         .await;
 
     let mut true_count = 0;
@@ -72,10 +73,10 @@ pub async fn coinflip_procedural<
             vec![]
         });
 
-        let gate = detections
-            .iter()
-            .filter(|d| matches!(d.class().identifier, Target::Gate))
-            .collect_vec();
+        // let gate = detections
+        //     .iter()
+        //     .filter(|d| matches!(d.class().identifier, Target::Gate))
+        //     .collect_vec();
         let shark = detections
             .iter()
             .filter(|d| matches!(d.class().identifier, Target::Shark))
@@ -85,19 +86,27 @@ pub async fn coinflip_procedural<
             .filter(|d| matches!(d.class().identifier, Target::Sawfish))
             .collect_vec();
 
-        if (gate.len() > 0 || shark.len() > 0 || sawfish.len() > 0) {
+        let leftPole = detections
+            .iter()
+            .filter(|d| matches!(d.class().identifier, Target::LeftPole))
+            .collect_vec();
+
+        let rightPole = detections
+            .iter()
+            .filter(|d| matches!(d.class().identifier, Target::RightPole))
+            .collect_vec();
+
+        if (shark.len() > 0 || sawfish.len() > 0 || !leftPole.is_empty()) {
             if true_count > max_true_count {
                 let _ = cb
-                    .stability_2_speed_set(0.0, 0.0, 0.0, 0.0, initial_yaw, DEPTH)
+                    .stability_1_speed_set(0.0, 0.0, 0.0, 0.0, 0.0, DEPTH)
                     .await;
+                break;
             } else {
                 true_count += 1;
             }
         } else {
-            target_yaw += angle_correction;
-            let _ = cb
-                .stability_2_speed_set(0.0, 0.0, 0.0, 0.0, target_yaw, DEPTH)
-                .await;
+            true_count = 0;
         }
     }
 }

src/missions/gate.rs

@@ -77,24 +77,24 @@ pub async fn gate_run_procedural<
             vec![]
         });
 
-        /* let pole = detections
-        .iter()
-        .filter(|d| matches!(d.class().identifier, Target::Pole))
-        .collect_vec(); */
+        let rightPole = detections
+            .iter()
+            .filter(|d| matches!(d.class().identifier, Target::RightPole))
+            .collect_vec();
 
         /* let middle = detections
         .iter()
         .filter(|d| matches!(d.class().identifier, Target::Middle))
         .collect_vec(); */
 
-        let sawfish = detections
+        let shark = detections
             .iter()
-            .filter(|d| matches!(d.class().identifier, Target::Sawfish))
+            .filter(|d| matches!(d.class().identifier, Target::LeftPole))
             .collect_vec();
 
-        let shark = detections
+        let sawfish = detections
             .iter()
-            .filter(|d| matches!(d.class().identifier, Target::Shark))
+            .filter(|d| matches!(d.class().identifier, Target::RightPole))
             .collect_vec();
 
         let mut traversal_timer = DelayAction::new(9.5); // forward duration in second
@@ -149,7 +149,7 @@ pub async fn gate_run_procedural<
                     logln!("LEFT: Missing Features, Fallback");
 
                     let correction = -0.2;
-                    let fwd = 0.0;
+                    let fwd = 0.05;
 
                     let _ = cb
                         .stability_2_speed_set(correction, fwd, 0.0, 0.0, initial_yaw, config.depth)
@@ -161,18 +161,18 @@ pub async fn gate_run_procedural<
             Side::Right => {
                 if !sawfish.is_empty() {
                     // Center on average x of blue
-                    let avg_x = sawfish
+                    let avg_x = (sawfish
                         .iter()
                         .map(|d| *d.position().x() as f32)
                         .sum::<f32>()
-                        / sawfish.len() as f32;
+                        / sawfish.len() as f32);
 
                     #[cfg(feature = "logging")]
                     logln!("SAWFISH AVG X: {}", avg_x);
 
                     if avg_x.abs() > TOLERANCE {
                         let correction = 0.4 * avg_x;
-                        let fwd = 0.0;
+                        let fwd = 0.05;
 
                         let _ = cb
                             .stability_2_speed_set(
@@ -210,7 +210,7 @@ pub async fn gate_run_procedural<
                     logln!("RIGHT: Missing Features, Fallback");
 
                     let correction = 0.2;
-                    let fwd = 0.0;
+                    let fwd = 0.05;
 
                     let _ = cb
                         .stability_2_speed_set(correction, fwd, 0.0, 0.0, initial_yaw, config.depth)

src/video_source/appsink.rs

@@ -48,10 +48,11 @@ impl Camera {
         let rtsp_string = "h264. ! queue ! h264parse config_interval=-1 ! video/x-h264,stream-format=byte-stream,alignment=au ! rtspclientsink location=rtsp://127.0.0.1:8554/".to_string()
                         + camera_name + ".mp4 ";
 
+        // unsharp luma-radius-2.0 luma-amount=2.5 chroma-radius=2.0 chroma-amount=2.5 !
         let capture_string =
             pipeline_head(camera_path, camera_dimensions.0, camera_dimensions.1, 30)
                 + " ! jpegdec ! tee name=raw "
-                + "raw. ! queue  ! videoconvert ! videobalance brightness=0.0  ! appsink "
+                + "raw. ! queue  ! videoconvert ! videobalance brightness=-0.6 ! appsink "
                 + "raw. ! queue  ! videoconvert ! "
                 + &h264_enc_pipeline(2048000)
                 + " ! tee name=h264 "
@@ -151,7 +152,7 @@ fn pipeline_head(device_name: &str, width: u32, height: u32, framerate: u32) ->
     return format!("mfvideosrc device-index={device_name} ! image/jpeg, width={width}, height={height}, framerate={framerate}/1");
 
     #[cfg(not(target_os = "windows"))]
-    return format!("v4l2src device={device_name} exposure=50 ! image/jpeg, width={width}, height={height}, framerate={framerate}/1");
+    return format!("v4l2src device={device_name} exposure=25 ! image/jpeg, width={width}, height={height}, framerate={framerate}/1");
 }
 
 fn h264_enc_pipeline(bitrate: u32) -> String {