good changes for day 3

SoonerRobotics · Jun 2, 2024 · 1bd99ff · 1bd99ff
1 parent a4098b8
commit 1bd99ff
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Showing 3 changed files with 8 additions and 7 deletions.
diff --git a/autonav_ws/src/autonav_nav/src/astar.py b/autonav_ws/src/autonav_nav/src/astar.py
@@ -23,7 +23,7 @@
 CV_BRIDGE = cv_bridge.CvBridge()
 
 competition_waypoints = [
-    [(42.6682623, -83.2193709), (42.6681206, -83.2193606), (42.6680766, -83.2193592), (42.6679277, -83.2193276), (42.668130236144883, -83.21889785301433)],  # NORTH
+    [(42.6682623, -83.2193709), (42.6681206, -83.2193606), (42.6680766, -83.2193592), (42.6679277, -83.2193276), (42.6679216, -83.2189126), (42.668130236144883, -83.21889785301433)],  # NORTH
     [(42.668086, -83.218446)], #
     []
 ]
@@ -168,6 +168,7 @@ def create_path(self):
 
             cv2.circle(cvimg, (self.best_pos[0], self.best_pos[1]), 1, (255, 0, 0), 1)
             cvimg = cv2.resize(cvimg, (320, 320), interpolation=cv2.INTER_NEAREST)
+
             # Draw a grid on the image that is the scale of the original image, so it should be a 80x80 grid scaled up 4x
             for i in range(80):
                 cv2.line(cvimg, (0, i * 4), (320, i * 4), (85, 85, 85), 1)

diff --git a/autonav_ws/src/autonav_serial/src/serial_node.py b/autonav_ws/src/autonav_serial/src/serial_node.py
@@ -105,7 +105,7 @@ def canThreadWorker(self):
                 continue
             if self.can is not None:
                 try:
-                    msg = self.can.recv(timeout=1)
+                    msg = self.can.recv(timeout=0.01)
                     if msg is not None:
                         self.onCanMessageReceived(msg)
                 except can.CanError:
@@ -166,14 +166,14 @@ def onCanMessageReceived(self, msg):
 
     def canWorker(self):
         try:
-            with open("/dev/autonav-can-835", "r") as f:
+            with open("/dev/ttyACM0", "r") as f:
                 pass
 
             if self.can is not None:
                 return
 
             self.can = can.ThreadSafeBus(
-                bustype="slcan", channel="/dev/autonav-can-835", bitrate=100000)
+                bustype="slcan", channel="/dev/ttyACM0", bitrate=100000)
             self.set_device_state(DeviceStateEnum.OPERATING)
         except:
             if self.can is not None:
@@ -189,7 +189,7 @@ def onSafetyLightsReceived(self, lights: SafetyLights):
         packed_data = SafetyLightsPacket()
         packed_data.autonomous = lights.autonomous
         packed_data.eco = False
-        packed_data.mode = 0
+        packed_data.mode = 0 if not lights.autonomous else 2
         packed_data.brightness = lights.brightness
         packed_data.red = lights.red
         packed_data.green = lights.green

diff --git a/autonav_ws/src/autonav_vision/src/transformations.py b/autonav_ws/src/autonav_vision/src/transformations.py
@@ -234,8 +234,8 @@ def apply_hsv(self, img):
         upper = (self.config.upper_hue, self.config.upper_sat, self.config.upper_val)
         mask1 = cv2.inRange(img, lower, upper)
 
-        lower = (70, 128, 80)
-        upper = (145, 255, 255)
+        lower = (110, 180, 110)
+        upper = (145, 255, 180)
         mask2 = cv2.inRange(img, lower, upper)
         epic_mask = cv2.add(mask1, mask2)