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jetson-updartes

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Your Name 2021-09-29 09:19:10 +01:00
parent fc80eacecb
commit 0b4567b78b
5 changed files with 3093 additions and 7 deletions
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2
Control/Jetson/dronekit_server_client.py
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@ -148,7 +148,7 @@ class DroneKitComms:
self.nudge_fork_vert(False, 1) self.nudge_fork_vert(False, 1)
self.nudge_fork_vert(False, 1) self.nudge_fork_vert(False, 1)
time.sleep(2) time.sleep(2)
self.nudge_fork_vert(True, 0.5) self.nudge_fork_vert(True, 0.42)
time.sleep(1) time.sleep(1)
def zero_fork_vert_movement(self): def zero_fork_vert_movement(self):

8
Control/Jetson/gps_log__10.43.57.txt Normal file
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@ -0,0 +1,8 @@
10:48:29 | {"lat": 51.5136859, "lon": -1.9877412},
10:49:00 | {"lat": 51.5136561, "lon": -1.9877741},
10:49:12 | {"lat": 51.5135884, "lon": -1.9878123},
10:49:21 | {"lat": 51.5135033, "lon": -1.9878121},
10:49:30 | {"lat": 51.5134414, "lon": -1.9877873},
10:49:39 | {"lat": 51.5133871, "lon": -1.9877211},
10:49:48 | {"lat": 51.5133487, "lon": -1.9876391},
10:50:10 | {"lat": 51.5133224, "lon": -1.9875018},

8
Control/Jetson/main.py
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@ -30,9 +30,9 @@ DO_VISION_APPROACH = True
DO_FORK_ALIGN = True DO_FORK_ALIGN = True
DO_PICKUP_CARGO = True DO_PICKUP_CARGO = True
DO_REVERSE_TURN = True DO_REVERSE_TURN = True
DO_GPS_RETURN = False DO_GPS_RETURN = True
DO_DROPOFF_CARGO = True DO_DROPOFF_CARGO = True
DO_RETURN_TO_NEUTRAL = False DO_RETURN_TO_NEUTRAL = True
DO_LOOP = True DO_LOOP = True
@ -103,6 +103,7 @@ def __put_down_cargo(vehicle_ctrl):
vehicle_ctrl.zero_fork_vert_pickup() vehicle_ctrl.zero_fork_vert_pickup()
time.sleep(1) time.sleep(1)
vehicle_ctrl.reverse_from_pallet() vehicle_ctrl.reverse_from_pallet()
vehicle_ctrl.zero_fork_vert_movement()
return True return True
@ -110,9 +111,6 @@ def __reverse_turn(vehicle_ctrl):
executor_logger.info(f"performing reverse turn") executor_logger.info(f"performing reverse turn")
vehicle_ctrl.nudge_drive(False, 5, 2000) vehicle_ctrl.nudge_drive(False, 5, 2000)
vehicle_ctrl.nudge_drive(False, 6, 2000) vehicle_ctrl.nudge_drive(False, 6, 2000)
vehicle_ctrl.nudge_drive(True, 5, 1000)
vehicle_ctrl.nudge_drive(True, 5, 1000)
vehicle_ctrl.nudge_drive(True, 6, 1000)
return True return True

3080
Control/Jetson/slf.file Normal file
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File diff suppressed because it is too large Load Diff

2
Control/Jetson/vision_cargo_approach.py
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@ -147,7 +147,7 @@ class VisionCargoApproacher:
self.no_detects = 0 # for how many frames did we not detect an apriltag (stops forklift) self.no_detects = 0 # for how many frames did we not detect an apriltag (stops forklift)
self.no_detect_limit = 3 # how many no detect frames are allowed to pass before we stop the forklift self.no_detect_limit = 3 # how many no detect frames are allowed to pass before we stop the forklift
# self.max_approach_area_thresh = 3000 # How much area should the Apriltag take up (pixels) before we send the stop comand (how close to the cargo do we stop) # self.max_approach_area_thresh = 3000 # How much area should the Apriltag take up (pixels) before we send the stop comand (how close to the cargo do we stop)
self.max_approach_area_thresh = 3200 # How much area should the Apriltag take up (pixels) before we send the stop comand (how close to the cargo do we stop) self.max_approach_area_thresh = 2800 # How much area should the Apriltag take up (pixels) before we send the stop comand (how close to the cargo do we stop)
self.centre_distance_thresh = (-0.2, 0.2) # horizontal tolerance for pallet alignment pre fork alignment self.centre_distance_thresh = (-0.2, 0.2) # horizontal tolerance for pallet alignment pre fork alignment
self.centre_angle_thresh = (-0.2, 0.2) # angular tolerance for pallet alignment pre fork alignment self.centre_angle_thresh = (-0.2, 0.2) # angular tolerance for pallet alignment pre fork alignment
self.horizontal_camera_offset = 0 # In case the camera isn't perfectly straight, we can compansate for that in code self.horizontal_camera_offset = 0 # In case the camera isn't perfectly straight, we can compansate for that in code