[master] Need help testing mouse input about chosuntruck HOT 9 CLOSED

A couple questions:

1. Should we consider changing ld.setMinVote(55) to a higher value?
2. Does anyone know how to move the "imshow" window? (I tried)
3. Dividing the average here gives wildly different results in terms of the truck compensating correctly. 13 works decently, but there is probably a better way to do this.
4. I'm still not sure if this centers the mouse correctly. Ideally it would move mouse to center, but its inconsistent.

from chosuntruck.

Update: worked on it more ajchili@99fa517

It's actually more broken then when I started this. That is pretty impressive.

I think I have the general idea of what I need it to do now. I'm optimistic :)

from chosuntruck.

1. We can consider that, but any specific reasons to change the value?
2. I hope this can be the solution

from chosuntruck.

Well I was testing a couple different things to try to see if I could make the program detect lines in different light conditions. Also when I posted that comment it was extremely dark and the program wasn't seeing any lines. I just turned on the lights of the truck to fix this.

setting setMinVote to 60 seemed to work better but I've changed it back down to 55 for now. I am still testing it.

I thought that changing the threshold values may help since it always seems to be a little darker than it should.

I tried AdaptiveThreshold to see if I can adapt to the brightness dynamically but this made it find too many lines instead. It was a fun experiment though!

Edit: was able to move windows, thank you! ajchili@e980f95

from chosuntruck.

Made more progress:
ajchili@564b178

See video here: https://www.youtube.com/watch?v=rqyvoFuGKKk&feature=youtu.be
(I crashed many times while doing this, now my engine stalls. lol)
I feel like the best way to get this to work would probably be dividing by an incremental amount.
For example, between 5 and -5 it divides by 10, between 5 to 10 and -5 to -10 it divides by 9...etc.

from chosuntruck.

Looks great! If the steering wheel recovers to the center quickly, it will move better.

from chosuntruck.

Input is working a lot better now! ajchili@fe4759d

I don't have the time right now to manually fine-tune parameters of the PID controller, but it's working great so far.

See new video here: https://www.youtube.com/watch?v=iL2F__ENx5s&feature=youtu.be

The truck crashed at the end, but I think this is easily fixable.

from chosuntruck.

New PID implementation ajchili@eb601b4

I will need to add Integral term in order to automatically determine the other terms (proportional + derivative)

from chosuntruck.

Video of the new PID: https://www.youtube.com/watch?v=DYe3aTquavc&feature=youtu.be

Should be almost perfect with adaptive IPM.

from chosuntruck.