Changes between Version 14 and Version 15 of ControlSystems/SoftwareTeam/Training/GettingStarted/Targeting


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Timestamp:
Dec 1, 2019, 3:47:01 PM (6 years ago)
Author:
David Albert
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  • ControlSystems/SoftwareTeam/Training/GettingStarted/Targeting

    v14 v15  
    33[https://first.wpi.edu/FRC/roborio/release/docs/java/ OpenCV] allows you to do sophisticated processing of the received frames using various algorithms to filter the images, detect edges, and more.  Unfortunately, image processing is very CPU intensive and the RoboRIO is not really up to the task.  The $435 [https://forums.ni.com/t5/FIRST-Robotics-Competition/roboRIO-Details-and-Specifications/ta-p/3494658?profile.language=en RoboRIO] has a 667MHz dual-core processor with 256MB of RAM.  For comparison, a $40 [https://www.raspberrypi.org/products/raspberry-pi-3-model-b/ Raspberry Pi 3B] has a 1.2GHz quad-core processor with 1GB of RAM or nearly 4x the computing power.  If you try to do much video processing using the RoboRIO, it slows to a crawl and can't perform its other robot-control duties well.
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    5 For this reason, 2537, and most other teams, don't do much video processing on the RoboRIO, instead doing video processing on a separate platform (e.g. Raspberry Pi) and send the concise results (e.g. target angle) to the RoboRIO.  Choices for video co-processors include:
     5For this reason, 2537, and most other teams, don't do much video processing on the RoboRIO, instead doing video processing on a [https://wpilib.screenstepslive.com/s/currentCS/m/85074/l/1027235-using-a-coprocessor-for-vision-processing separate platform] such as a Raspberry Pi and send the concise results (e.g. target angle) to the RoboRIO.  Choices for video co-processors include:
    66* Sending the video to the driver-station laptop for processing (free) - consider using tools like [https://wpilib.screenstepslive.com/s/currentCS/m/vision/l/463566-introduction-to-grip GRIP]
    77* [https://www.amazon.com/Raspberry-Pi-MS-004-00000024-Model-Board/dp/B01LPLPBS8/ Raspberry Pi 3B] ([https://www.amazon.com/Raspberry-Pi-MS-004-00000024-Model-Board/dp/B01LPLPBS8 $38]) or 3B+ (note: Raspberry PI 4 is faster, but requires active cooling)