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RooVision2020

This is Team 4373 RooBotics' vision code for the 2020 FIRST Robotics Infinite Recharge competition. It is designed to run on a Raspberry Pi coprocessor using the FRCVision image.

Exporting from GRIP

  • Open the appropriate pipeline file from pipelines/ in GRIP and generate Java code
  • Change import edu.wpi.first.wpilibj.vision.VisionPipeline to import edu.wpi.first.vision.VisionPipeline in the generated file
  • Place the Java file in the correct location (in the java directory)

Building on Desktop

  • Ensure Java 11 is properly installed and configured (check your JAVA_HOME environment variable)
  • Run ./gradlew build (this generates a jar file in build/libs)

Deploying

  • Open the Pi web dashboard at http://frcvision.local
  • Go to the Application tab, select "Uploaded Java jar," and upload the RooVision2020-all.jar file in build/libs
  • Set the filesystem to "Writable"
  • Click Save
  • Set the filesystem back to "Read-Only"

To monitor output, go to the Vision Status tab on the web server.

Building on Pi

  • Run ./gradlew build
  • Run ./install.sh (replaces /home/pi/runCamera)
  • Run ./runInteractive in /home/pi or sudo svc -t /service/camera to restart the service