Post-competition commit

Author: cocolocomoco21

AI-ROCKS/AI-ROCKS.cs

@@ -189,11 +189,13 @@ static void Main(string[] args)
             executeTimer.Elapsed += autonomousService.Execute;
             executeTimer.Enabled = true;
 
+            /*
             // Create timer for ObstacleEvent, tied in to autonomousService.DetectObstacleEvent()
             Timer obstacleTimer = new Timer(OBSTACLE_INTERVAL_MILLIS);
             obstacleTimer.AutoReset = true;
             obstacleTimer.Elapsed += autonomousService.DetectObstacleEvent;
             obstacleTimer.Enabled = true;
+            */        
 
             // Execute while not receive an ACK from base station and DriveContext is not complete
             while (!autonomousService.IsComplete())

AI-ROCKS/Drive/DriveStates/GPSDriveState.cs

@@ -156,7 +156,6 @@ public StateType GetNextStateType()
                 return StateType.VisionState;
             }
 
-
             return StateType.GPSState;
         }
 

AI-ROCKS/Drive/DriveStates/VisionDriveState.cs

@@ -354,6 +354,7 @@ private DriveCommand DriveNoBallDetected(TennisBall ball)
 
                     break;
                 }
+                /*
                 case 2:
                 {
                     // Broaden HSV values, scan
@@ -366,7 +367,8 @@ private DriveCommand DriveNoBallDetected(TennisBall ball)
 
                     break;
                 }
-                case 3:
+                */
+                case 2:
                 {
                     // Align toward heading (again), drive for 5ish seconds, 
                     StatusHandler.SendDebugAIPacket(Status.AIS_BEGIN_SCAN, "Scan: 2nd 5m scan toward heading. Distance: " + Math.Round(distanceToGate, 2));
@@ -376,7 +378,7 @@ private DriveCommand DriveNoBallDetected(TennisBall ball)
 
                     break;
                 }
-                case 4:
+                case 3:
                 {
                     // We've already run 1 scan, 1 5m scan, 1 broaden HSV, 1 more 5m scan, so drive straight to kick back to GPS and do it over again
                     return DriveCommand.Straight(Speed.VISION);

AI-ROCKS/Drive/Models/Camera.cs

@@ -18,7 +18,7 @@ class Camera
         const int FRAME_RATE = 15;
 
         // Circle detection
-        const int MIN_RADIUS = 5;
+        const int MIN_RADIUS = 2;
 
         // Gaussian blur
         const int GAUSSIAN_KERNELSIZE = 15;

AI-ROCKS/Drive/Utils/Speed.cs

@@ -9,11 +9,11 @@ namespace AI_ROCKS.Drive.Utils
     public static class Speed
     {
         public const byte NORMAL_OPERATION = 50;
-        public const byte SLOW_OPERATION = 33;
+        public const byte SLOW_OPERATION = 53;
         public const byte CLEAR_OBSTACLE = 40;
         public const byte AVOID_OBSTACLE = 30;
-        public const byte SLOW_TURN = 35;
-        public const byte VISION = 33;
+        public const byte SLOW_TURN = 45;
+        public const byte VISION = 43;
         public const byte VISION_SCAN = 30;
         public const byte HALT = 0;
     }