Aug 28, 2011 00:24
We just finished up round 2 of the basketball at FIRA. Despite only scoring 1/5, I'm feeling much better about it. The ball actually went in twice, but Darwin touched the rim as he was dunking, resulting in a DQ.
I think I've got the order of the summaries right. I'll double-check the logs on Darwin later.
The first run was the one that counted. Started off a little shaky when he got distracted by another ball on the ground over in a pile of extension cords. But a quick scamper to hide that from view sorted it. After that it was a perfect execution. Walk over, grab the ball, over to the net, and drop it in. Total time was about 46 seconds.
Run #2 started off very well, but I hadn't calibrated the colours generously enough. Yesterday the YUV thresholds were too broad, resulting in a lot of noise, so today I was much pickier about what colours were allowable and which weren't. The lighting changed a little, and Darwin suddenly lost sight of the basket and walked through the basket. Hurp-a-derp. That was a stressful one to fix, but I managed to isolate the colour that wasn't being caught and fix it.
Run #3 didn't go so well. Darwin's battery was getting low, and he fell over before he could get to the ball. Oh well, shit happens. Swapped out the battery for a new one.
Run #4 was killed due to bad luck. When Darwin's arms came up to grab the ball off the stick he clipped the stick a little, and bobbled the ball. Sadly, Darwin can't pick the ball up off the ground, so that one was a failure.
Run #5 went exactly like run #1, except right at the very end Darwin clipped the basket as he was dumping the ball. If he'd been 1cm further back it would have been 2/5.
So despite only getting a single point out of today's efforts I'm happy since Darwin actually looked like he was doing what he was supposed to do. Yesterday he was never even getting to the point of picking up the ball, and just derped around until he either fell over or the 2 minutes elapsed. But today he actually *almost* worked.