Calibration (v3)

Calibration Components

Moab calibration consists of 3 components:

• Ball Hue: This is the color used by OpenCV to detect the ball. The default calibration is for the orange ball but the hue can change based on the lighting. If your Moab is having difficulty balancing the ball, try recalibrating to ensure proper ball detection.
• Ball Position: Each Moab is slightly different due to tolerances in the parts so this calibration determines the X and Y offsets to the center of the ball on the plate.
• Bias: These are the servo offsets that determine a level plate. Since there are three servos, there are three offset values.

Ball Hue and Position calibration

These calibration values are updated in one set.

1. In the menu, navigate to and select CALIBRATION. Follow the prompts on the Moab screen. If calibration is successful, the Ball Hue and Position values will be displayed.

Bias (Plate level) calibration

1. ssh into moab

ssh [email protected]
password: raspberry

2. Navigate to and open the bot.json file using your favorite file editor.

cd moab

3. Update the servo offsets with integer values.

    "servo_offsets": [
        0.0,
        0.0,
        0.0
    ]

4. Save the file.

5. Restart the docker container

down
up

6. On Moab, navigate to and select CALIBRATION. Follow the prompts on the Moab screen.

7. Navigate to and select CALIB INFO. The BIAS will be updated with the servo offset values.