modulo per avviare il robot
TRUE
TRUE
WALK_ENABLE
WALK_ENABLE
1
0
1
POWER_OFF
TRUE
TRUE
1
POWER_ON
TRUE
TRUE
FINE
1
SPINTO
0
0
passo
TRUE
TRUE
0
DIR
filters out the bad light
6
0
0
0
0
0
TRUE
0
0
0
FALSE
0
FALSE
-15
segnalibri ORIGINAL
FALSE
Original
Current
black mask on green (all set to 0)
2
0
6
50
0
black mask on blue (all set to 0)
4
0
6
50
50
black mask on gray (min intensity 176)
256
0
6
176
0
red mask on red (min hue 49)
1
0
1
0
49
1
10
1
10
50
treshold on intensity (keeps the good red)
2
32
255
0
15
32
0
1
0
0
#FF0000
27
0
FALSE
FALSE
RED
FALSE
FALSE
TRUE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
9
FALSE
FALSE
FALSE
2
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
6
FALSE
TRUE
FALSE
FALSE
COORD_BRED_Y
[CLOSEST_RGB]
[blobs:1]
COORD_BRED_X
FALSE
FALSE
[blobs:0]
CLOSEST_RED
FALSE
FALSE
[LOWEST_MIDDLE_Y]
FALSE
FALSE
LOWEST_Y_RED
FALSE
Red Cube Output
Original
black mask on gray (min intensity 176)
256
0
6
176
0
black mask on blue (all set to 0)
4
0
6
15
60
black mask on red (all set to 0)
1
0
6
0
0
green mask on green (min hue 11)
11
0
0
2
2
55
1
10
70
treshold on intensity (keeps the good green)
2
10
255
0
15
32
35
0
0
0
#0000FF
27
0
FALSE
TRUE
GREEN
FALSE
FALSE
TRUE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
9
FALSE
FALSE
FALSE
2
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
3
FALSE
TRUE
FALSE
FALSE
COORD_BGREEN_Y
[CLOSEST_RGB]
[blobs:1]
COORD_BGREEN_X
FALSE
FALSE
[blobs:0]
CLOSEST_GREEN
FALSE
FALSE
[LOWEST_MIDDLE_Y]
FALSE
FALSE
LOWEST_Y_GREEN
FALSE
Green Cube Output
Original
black mask on red (all set to 0)
1
0
6
0
0
black mask on green (all set to 0)
2
0
6
0
0
black mask on gray (min intensity 176)
256
0
6
70
0
blue mask on blue (min hue 49)
49
0
0
4
4
0
1
50
50
15
treshold on intensity (keeps the good blue)
2
54
255
0
32
10
0
0
0
#0000FF
27
0
FALSE
TRUE
BLUE
FALSE
FALSE
FALSE
0
0
0
#0000FF
27
0
FALSE
TRUE
BLUE
FALSE
FALSE
FALSE
estremi BLU
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
9
FALSE
FALSE
FALSE
2
FALSE
FALSE
TRUE
FALSE
FALSE
FALSE
FALSE
2
FALSE
TRUE
FALSE
FALSE
HIGHEST_X_BLUE
HIGHEST_Y_BLUE
[LOWEST_MIDDLE_X]
[HIGHEST_MIDDLE_X]
[HIGHEST_MIDDLE_Y]
LOWEST_Y_BLUE
FALSE
FALSE
[LOWEST_MIDDLE_Y]
LOWEST_X_BLUE
FALSE
Blue Line Output
Original
black mask on magenta (all set to 0)
32
0
6
0
0
black mask on cyan (all set to 0)
16
0
6
0
0
black mask on gray (min intensity 176)
256
0
6
76
0
yellow mask on yellow (min hue 73)
73
0
0
64
64
10
1
120
85
15
treshold on intensity (keeps the good yellow)
2
56
255
0
32
10
0
0
0
#FFFF00
27
0
FALSE
TRUE
YELLOW
FALSE
FALSE
FALSE
0
0
0
#FFFF00
27
0
FALSE
TRUE
YELLOW
FALSE
FALSE
FALSE
estremi GIALLO
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
9
FALSE
FALSE
FALSE
2
FALSE
FALSE
TRUE
FALSE
FALSE
FALSE
FALSE
8
FALSE
TRUE
FALSE
FALSE
HIGHEST_X_YELLOW
HIGHEST_Y_YELLOW
[LOWEST_MIDDLE_X]
[HIGHEST_MIDDLE_X]
[HIGHEST_MIDDLE_Y]
LOWEST_Y_YELLOW
FALSE
FALSE
[LOWEST_MIDDLE_Y]
LOWEST_X_YELLOW
FALSE
Yellow Line Output
Original
1
gui
TRUE
FALSE
-1
-1
TRUE
12
7
COM9 - Prolific USB-to-Serial Comm Port
[PIPCommand][PIPPan][PIPBody][PIPMove]
FALSE
FALSE
FALSE
TRUE