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[Robotflow-cvs] RobotFlow/Vision/n-files ChallengeVision.n,1.6,1.7
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From: Dominic L. <ma...@us...> - 2005-07-01 18:22:27
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Update of /cvsroot/robotflow/RobotFlow/Vision/n-files In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2732 Modified Files: ChallengeVision.n Log Message: PTZ adjusts Index: ChallengeVision.n =================================================================== RCS file: /cvsroot/robotflow/RobotFlow/Vision/n-files/ChallengeVision.n,v retrieving revision 1.6 retrieving revision 1.7 diff -C2 -d -r1.6 -r1.7 *** ChallengeVision.n 30 Jun 2005 20:42:52 -0000 1.6 --- ChallengeVision.n 1 Jul 2005 18:22:15 -0000 1.7 *************** *** 94,98 **** <Node name="node_Subsumption_1" type="Subsumption" x="1653.000000" y="117.000000"/> <Node name="node_Subsumption_2" type="Subsumption" x="2174.000000" y="-90.000000"/> ! <Node name="node_IF_1" type="IF" x="2307.000000" y="-5.000000"> <Parameter name="PULL_ANYWAY" type="bool" value="" description="If true, the IF statement pulls also on the branch not taken"/> </Node> --- 94,98 ---- <Node name="node_Subsumption_1" type="Subsumption" x="1653.000000" y="117.000000"/> <Node name="node_Subsumption_2" type="Subsumption" x="2174.000000" y="-90.000000"/> ! <Node name="node_IF_1" type="IF" x="2326.000000" y="-5.000000"> <Parameter name="PULL_ANYWAY" type="bool" value="" description="If true, the IF statement pulls also on the branch not taken"/> </Node> *************** *** 105,109 **** <Parameter name="VALUE" type="subnet_param" value="DEFAULT_ABS_PAN_COMMAND" description="The value"/> </Node> ! <Node name="node_Constant_12" type="Constant" x="2102.000000" y="-6.000000"> <Parameter name="VALUE" type="subnet_param" value="DEFAULT_ABS_TILT_COMMAND" description="The value"/> </Node> --- 105,109 ---- <Parameter name="VALUE" type="subnet_param" value="DEFAULT_ABS_PAN_COMMAND" description="The value"/> </Node> ! <Node name="node_Constant_12" type="Constant" x="2102.000000" y="-4.000000"> <Parameter name="VALUE" type="subnet_param" value="DEFAULT_ABS_TILT_COMMAND" description="The value"/> </Node> *************** *** 248,252 **** </Node> <Node name="node_GenericPID_1" type="GenericPID" x="42.000000" y="-300.000000"> ! <Parameter name="P_GAIN" type="float" value="0.25" description="Proportionnal gain."/> <Parameter name="I_GAIN" type="float" value="0.0" description="Integral gain."/> <Parameter name="D_GAIN" type="float" value="0.0" description="Derivative gain."/> --- 248,252 ---- </Node> <Node name="node_GenericPID_1" type="GenericPID" x="42.000000" y="-300.000000"> ! <Parameter name="P_GAIN" type="float" value="0.1" description="Proportionnal gain."/> <Parameter name="I_GAIN" type="float" value="0.0" description="Integral gain."/> <Parameter name="D_GAIN" type="float" value="0.0" description="Derivative gain."/> *************** *** 263,267 **** </Node> <Node name="node_GenericPID_2" type="GenericPID" x="45.000000" y="-184.000000"> ! <Parameter name="P_GAIN" type="float" value="-0.25" description="Proportionnal gain."/> <Parameter name="I_GAIN" type="float" value="0.0" description="Integral gain."/> <Parameter name="D_GAIN" type="float" value="0.0" description="Derivative gain."/> --- 263,267 ---- </Node> <Node name="node_GenericPID_2" type="GenericPID" x="45.000000" y="-184.000000"> ! <Parameter name="P_GAIN" type="float" value="-0.1" description="Proportionnal gain."/> <Parameter name="I_GAIN" type="float" value="0.0" description="Integral gain."/> <Parameter name="D_GAIN" type="float" value="0.0" description="Derivative gain."/> *************** *** 282,288 **** <Parameter name="PULL_ANYWAY" type="bool" value="" description="If true, the IF statement pulls also on the branch not taken"/> </Node> - <Node name="node_Constant_10" type="Constant" x="903.000000" y="115.000000"> - <Parameter name="VALUE" type="int" value="0" description="The value"/> - </Node> <Node name="node_IF_5" type="IF" x="666.000000" y="135.000000"> <Parameter name="PULL_ANYWAY" type="bool" value="" description="If true, the IF statement pulls also on the branch not taken"/> --- 282,285 ---- *************** *** 295,300 **** <Node name="node_NOP_5" type="NOP" x="-199.000000" y="172.000000"/> <Node name="node_NOP_6" type="NOP" x="-107.000000" y="26.000000"/> ! <Node name="node_Constant_11" type="Constant" x="-33.000000" y="127.000000"> ! <Parameter name="VALUE" type="float" value="25" description="The value"/> </Node> <Node name="node_Smaller_2" type="Smaller" x="135.000000" y="180.000000"/> --- 292,297 ---- <Node name="node_NOP_5" type="NOP" x="-199.000000" y="172.000000"/> <Node name="node_NOP_6" type="NOP" x="-107.000000" y="26.000000"/> ! <Node name="node_Constant_11" type="Constant" x="-51.000000" y="127.000000"> ! <Parameter name="VALUE" type="float" value="100" description="The value"/> </Node> <Node name="node_Smaller_2" type="Smaller" x="135.000000" y="180.000000"/> *************** *** 304,311 **** <Node name="node_Greater_3" type="Greater" x="271.000000" y="56.000000"/> <Node name="node_Constant_12" type="Constant" x="-116.000000" y="62.000000"> ! <Parameter name="VALUE" type="int" value="25" description="The value"/> </Node> <Node name="node_Constant_13" type="Constant" x="195.000000" y="267.000000"> ! <Parameter name="VALUE" type="int" value="-50" description="The value"/> </Node> <Node name="node_IF_6" type="IF" x="425.000000" y="250.000000"> --- 301,308 ---- <Node name="node_Greater_3" type="Greater" x="271.000000" y="56.000000"/> <Node name="node_Constant_12" type="Constant" x="-116.000000" y="62.000000"> ! <Parameter name="VALUE" type="int" value="15" description="The value"/> </Node> <Node name="node_Constant_13" type="Constant" x="195.000000" y="267.000000"> ! <Parameter name="VALUE" type="int" value="-300" description="The value"/> </Node> <Node name="node_IF_6" type="IF" x="425.000000" y="250.000000"> *************** *** 315,320 **** <Parameter name="VALUE" type="int" value="0" description="The value"/> </Node> ! <Node name="node_Constant_15" type="Constant" x="435.000000" y="64.000000"> ! <Parameter name="VALUE" type="int" value="50" description="The value"/> </Node> <Node name="node_ABS_1" type="ABS" x="-113.000000" y="112.000000"/> --- 312,317 ---- <Parameter name="VALUE" type="int" value="0" description="The value"/> </Node> ! <Node name="node_Constant_15" type="Constant" x="510.000000" y="136.000000"> ! <Parameter name="VALUE" type="int" value="300" description="The value"/> </Node> <Node name="node_ABS_1" type="ABS" x="-113.000000" y="112.000000"/> *************** *** 334,344 **** <Node name="node_NOP_9" type="NOP" x="514.000000" y="-219.000000"/> <Node name="node_Add_4" type="Add" x="654.000000" y="-188.000000"/> ! <Node name="node_NOP_10" type="NOP" x="102.000000" y="-235.000000"/> ! <Node name="node_AUTO_SCALE_1" type="AUTO_SCALE" x="386.000000" y="-293.000000"/> ! <Node name="node_AUTO_SCALE_2" type="AUTO_SCALE" x="384.000000" y="-176.000000"/> ! <Node name="node_Div_1" type="Div" x="555.000000" y="135.000000"/> ! <Node name="node_ZOOM_FACTOR_1" type="ZOOM_FACTOR" x="58.000000" y="242.000000"/> ! <Node name="node_Div_2" type="Div" x="313.000000" y="316.000000"/> <Node name="node_Add_5" type="Add" x="799.000000" y="128.000000"/> <Link from="node_isNil_1" output="OUTPUT" to="node_IF_1" input="COND"/> <Link from="node_Constant_1" output="VALUE" to="node_IF_1" input="THEN"/> --- 331,342 ---- <Node name="node_NOP_9" type="NOP" x="514.000000" y="-219.000000"/> <Node name="node_Add_4" type="Add" x="654.000000" y="-188.000000"/> ! <Node name="node_NOP_10" type="NOP" x="81.000000" y="-238.000000"/> <Node name="node_Add_5" type="Add" x="799.000000" y="128.000000"/> + <Node name="node_AUTO_SCALE_1" type="AUTO_SCALE" x="309.000000" y="-291.000000"/> + <Node name="node_AUTO_SCALE_2" type="AUTO_SCALE" x="307.000000" y="-178.000000"/> + <Node name="node_Sub_5" type="Sub" x="866.000000" y="56.000000"/> + <Node name="node_Constant_7" type="Constant" x="599.000000" y="13.000000"> + <Parameter name="VALUE" type="int" value="1000" description="The value"/> + </Node> <Link from="node_isNil_1" output="OUTPUT" to="node_IF_1" input="COND"/> <Link from="node_Constant_1" output="VALUE" to="node_IF_1" input="THEN"/> *************** *** 362,367 **** <Link from="node_Smaller_1" output="OUTPUT" to="node_AND_1" input="INPUT1"/> <Link from="node_Smaller_2" output="OUTPUT" to="node_AND_1" input="INPUT2">164.5 180 191 179 190 136 209.5 135.5 </Link> - <Link from="node_Constant_11" output="VALUE" to="node_Smaller_1" input="INPUT2"/> - <Link from="node_Constant_11" output="VALUE" to="node_Smaller_2" input="INPUT2">1 127 1 187 51.5 187.5 </Link> <Link from="node_Greater_3" output="OUTPUT" to="node_AND_2" input="INPUT1">300.5 56 326 56 327 113 365.5 112.5 </Link> <Link from="node_AND_1" output="OUTPUT" to="node_AND_2" input="INPUT2"/> --- 360,363 ---- *************** *** 397,401 **** <Link from="node_GetVisualROIParam_1" output="HALF_WIDTH" to="node_Sub_3" input="INPUT2">-801 -126 -774 -125 -773 -28 -708.5 -27.5 </Link> <Link from="node_isNil_3" output="OUTPUT" to="node_IF_4" input="COND">683 -91 711 -91 711 99 997 99 </Link> - <Link from="node_Constant_10" output="VALUE" to="node_IF_4" input="THEN"/> <Link from="node_Add_3" output="OUTPUT" to="node_NOP_2" input="INPUT"/> <Link from="node_ToInt_1" output="OUTPUT" to="node_Add_3" input="INPUT2"/> --- 393,396 ---- *************** *** 404,423 **** <Link from="node_NOP_9" output="OUTPUT" to="node_Add_4" input="INPUT1"/> <Link from="node_ToInt_2" output="OUTPUT" to="node_Add_4" input="INPUT2"/> - <Link from="node_AUTO_SCALE_1" output="OUTPUT" to="node_ToInt_1" input="INPUT"/> - <Link from="node_GenericPID_1" output="OUTPUT" to="node_AUTO_SCALE_1" input="INPUT"/> - <Link from="node_AUTO_SCALE_2" output="OUTPUT" to="node_ToInt_2" input="INPUT"/> - <Link from="node_GenericPID_2" output="OUTPUT" to="node_AUTO_SCALE_2" input="INPUT"/> - <Link from="node_NOP_10" output="OUTPUT" to="node_AUTO_SCALE_1" input="ABS_ZOOM"/> - <Link from="node_NOP_10" output="OUTPUT" to="node_AUTO_SCALE_2" input="ABS_ZOOM"/> - <Link from="node_Div_1" output="OUTPUT" to="node_IF_5" input="THEN"/> - <Link from="node_Constant_15" output="VALUE" to="node_Div_1" input="NUM"/> - <Link from="node_ZOOM_FACTOR_1" output="ZOOM_FACTOR" to="node_Div_1" input="DEN"/> - <Link from="node_NOP_10" output="OUTPUT" to="node_ZOOM_FACTOR_1" input="ABS_ZOOM"/> - <Link from="node_Div_2" output="OUTPUT" to="node_IF_6" input="ELSE"/> - <Link from="node_Constant_13" output="VALUE" to="node_Div_2" input="NUM"/> - <Link from="node_ZOOM_FACTOR_1" output="ZOOM_FACTOR" to="node_Div_2" input="DEN">112 243 113 323 260 323.5 </Link> <Link from="node_Add_5" output="OUTPUT" to="node_IF_4" input="ELSE"/> <Link from="node_IF_5" output="OUTPUT" to="node_Add_5" input="INPUT2"/> <Link from="node_NOP_10" output="OUTPUT" to="node_Add_5" input="INPUT1"/> <NetInput name="IN_ROI" node="node_NOP_1" terminal="INPUT" object_type="any" description="The input"/> <NetOutput name="ABS_PAN" node="node_NOP_2" terminal="OUTPUT" object_type="any" description="The output = The input"/> --- 399,418 ---- <Link from="node_NOP_9" output="OUTPUT" to="node_Add_4" input="INPUT1"/> <Link from="node_ToInt_2" output="OUTPUT" to="node_Add_4" input="INPUT2"/> <Link from="node_Add_5" output="OUTPUT" to="node_IF_4" input="ELSE"/> <Link from="node_IF_5" output="OUTPUT" to="node_Add_5" input="INPUT2"/> <Link from="node_NOP_10" output="OUTPUT" to="node_Add_5" input="INPUT1"/> + <Link from="node_NOP_10" output="OUTPUT" to="node_AUTO_SCALE_1" input="ABS_ZOOM"/> + <Link from="node_AUTO_SCALE_1" output="OUTPUT" to="node_ToInt_1" input="INPUT"/> + <Link from="node_NOP_10" output="OUTPUT" to="node_AUTO_SCALE_2" input="ABS_ZOOM"/> + <Link from="node_AUTO_SCALE_2" output="OUTPUT" to="node_ToInt_2" input="INPUT"/> + <Link from="node_GenericPID_1" output="OUTPUT" to="node_AUTO_SCALE_1" input="DELTA"/> + <Link from="node_GenericPID_2" output="OUTPUT" to="node_AUTO_SCALE_2" input="DELTA"/> + <Link from="node_NOP_10" output="OUTPUT" to="node_Sub_5" input="INPUT1"/> + <Link from="node_Constant_7" output="VALUE" to="node_Sub_5" input="INPUT2"/> + <Link from="node_Sub_5" output="OUTPUT" to="node_IF_4" input="THEN"/> + <Link from="node_Constant_13" output="VALUE" to="node_IF_6" input="ELSE"/> + <Link from="node_Constant_15" output="VALUE" to="node_IF_5" input="THEN"/> + <Link from="node_Constant_11" output="VALUE" to="node_Smaller_1" input="INPUT2"/> + <Link from="node_Constant_11" output="VALUE" to="node_Smaller_2" input="INPUT2"/> <NetInput name="IN_ROI" node="node_NOP_1" terminal="INPUT" object_type="any" description="The input"/> <NetOutput name="ABS_PAN" node="node_NOP_2" terminal="OUTPUT" object_type="any" description="The output = The input"/> *************** *** 463,483 **** <Parameter name="VALUE" type="float" value="-1" description="The value"/> </Node> ! <Node name="node_NOP_3" type="NOP" x="102.000000" y="-140.000000"/> <Node name="node_Constant_2" type="Constant" x="-358.000000" y="-96.000000"> <Parameter name="VALUE" type="float" value="1.1" description="The value"/> </Node> ! <Node name="node_Mul_2" type="Mul" x="-56.000000" y="-140.000000"/> <Node name="node_Sub_1" type="Sub" x="-483.000000" y="-52.000000"/> <Node name="node_Constant_3" type="Constant" x="-642.000000" y="-20.000000"> <Parameter name="VALUE" type="float" value="1" description="The value"/> </Node> - <Node name="node_Div_1" type="Div" x="-567.000000" y="-139.000000"/> - <Node name="node_Constant_4" type="Constant" x="-681.000000" y="-105.000000"> - <Parameter name="VALUE" type="float" value="683" description="The value"/> - </Node> - <Node name="node_Add_1" type="Add" x="-458.000000" y="-147.000000"/> - <Node name="node_Constant_5" type="Constant" x="-614.000000" y="-199.000000"> - <Parameter name="VALUE" type="float" value="1.0" description="The value"/> - </Node> <Node name="node_ZOOM_FACTOR_1" type="ZOOM_FACTOR" x="-745.000000" y="-60.000000"/> <Link from="node_Constant_2" output="VALUE" to="node_Power_1" input="BASE"/> --- 458,470 ---- <Parameter name="VALUE" type="float" value="-1" description="The value"/> </Node> ! <Node name="node_NOP_3" type="NOP" x="165.000000" y="-64.000000"/> <Node name="node_Constant_2" type="Constant" x="-358.000000" y="-96.000000"> <Parameter name="VALUE" type="float" value="1.1" description="The value"/> </Node> ! <Node name="node_Mul_2" type="Mul" x="7.000000" y="-64.000000"/> <Node name="node_Sub_1" type="Sub" x="-483.000000" y="-52.000000"/> <Node name="node_Constant_3" type="Constant" x="-642.000000" y="-20.000000"> <Parameter name="VALUE" type="float" value="1" description="The value"/> </Node> <Node name="node_ZOOM_FACTOR_1" type="ZOOM_FACTOR" x="-745.000000" y="-60.000000"/> <Link from="node_Constant_2" output="VALUE" to="node_Power_1" input="BASE"/> *************** *** 488,500 **** <Link from="node_Power_1" output="OUTPUT" to="node_Mul_2" input="INPUT2"/> <Link from="node_Constant_3" output="VALUE" to="node_Sub_1" input="INPUT2"/> - <Link from="node_Constant_4" output="VALUE" to="node_Div_1" input="DEN"/> - <Link from="node_Constant_5" output="VALUE" to="node_Add_1" input="INPUT1"/> - <Link from="node_Div_1" output="OUTPUT" to="node_Add_1" input="INPUT2"/> - <Link from="node_Add_1" output="OUTPUT" to="node_Mul_2" input="INPUT1"/> <Link from="node_NOP_2" output="OUTPUT" to="node_ZOOM_FACTOR_1" input="ABS_ZOOM"/> <Link from="node_ZOOM_FACTOR_1" output="ZOOM_FACTOR" to="node_Sub_1" input="INPUT1"/> <NetOutput name="OUTPUT" node="node_NOP_3" terminal="OUTPUT" object_type="any" description="The output = The input"/> - <NetInput name="INPUT" node="node_Div_1" terminal="NUM" object_type="any" description="The numerator"/> <NetInput name="ABS_ZOOM" node="node_NOP_2" terminal="INPUT" object_type="any" description="The input"/> <Note x="0" y="0" visible="0" text="Created with FlowDesigner 0.9.0"/> </Network> --- 475,483 ---- <Link from="node_Power_1" output="OUTPUT" to="node_Mul_2" input="INPUT2"/> <Link from="node_Constant_3" output="VALUE" to="node_Sub_1" input="INPUT2"/> <Link from="node_NOP_2" output="OUTPUT" to="node_ZOOM_FACTOR_1" input="ABS_ZOOM"/> <Link from="node_ZOOM_FACTOR_1" output="ZOOM_FACTOR" to="node_Sub_1" input="INPUT1"/> <NetOutput name="OUTPUT" node="node_NOP_3" terminal="OUTPUT" object_type="any" description="The output = The input"/> <NetInput name="ABS_ZOOM" node="node_NOP_2" terminal="INPUT" object_type="any" description="The input"/> + <NetInput name="DELTA" node="node_Mul_2" terminal="INPUT1" object_type="any" description="The first operand"/> <Note x="0" y="0" visible="0" text="Created with FlowDesigner 0.9.0"/> </Network> |
