Python 2.7.9 (default, Sep 17 2016, 20:26:04) 
[GCC 4.9.2] on linux2
Type "copyright", "credits" or "license()" for more information.
>>> ================================ RESTART ================================
>>> 
Libraries loaded
Running script in directory "/home/pi/formulapi"
Image processor and Race Code Functions loaded
=== NEW SETTINGS ===

[Image setup]
Camera 160 x 120 at 5 fps
X cropped from 0 to 160
Y cropped from 54 to 120
Image processing threads: 1

[Startup]
Initial mode: 1

[Y scan lines]
54 (0)
57 (3)
60 (6)
63 (9)
66 (12)
69 (15)
72 (18)
75 (21)
78 (24)
81 (27)
84 (30)
87 (33)
90 (36)
93 (39)
96 (42)
99 (45)
102 (48)
105 (51)
108 (54)
111 (57)
114 (60)
117 (63)

[Colour identification]
Black limit: 100 100 60
Green gain: 1.10
Blue gain: 1.35
Target level for auto-gain: 200
Erosion factor for colour channels: 2
Final colour minimums: 1 1 1

[Line correction]
Colour edge gap: 24 pixels
Lane gap: 85 pixels
Offset Y calculation target 0: (16)
Corrective gain for derivative: 6.200

[Start marker detection]
Levels: Min Red = 45, Max Green = 50, Max Blue = 50
Start minimum match ratio: 90.0 %
Start crossed delay 0.50 s (2 frames)
Start re-detection delay: 10.0 s
Start detection zone X limits: 64 to 96
Start detection zone Y position: 40
[PID values]
    P0: 0.160000	I0:0.000000	D0: 0.200000
    P1: 0.004000	I1:0.000000	D1: 0.004000
    P2: 0.000000	I2:0.000000	D2: 0.000000

[FIR filter]
    Taps: 3

[Drive settings]
Maximum output: 100.0 %
Steering -50.0 % to +50.0 % (central +0.0 %)
Missing frames before stopping: 2

[Override settings]
Stuck detection threshold: 2.00
Stuck detection time: 1.00 s (5 frames)
Stuck reversing time: 1.50 s (7 frames)
Stuck hunting time: 0.80 s (4 frames)
Stuck colour detection at 80 x 54
Wrong way detection threshold: 10
Wrong way spin time: 1.20 s (6 frames)
Robot in front detection threshold: 38
Overtaking lane shift: 1.00
Overtaking time: 4.00 s (20 frames)

====================

Setup stream processor threads
02:23:01.550336 Processor thread 1 started with idle time of 0.40s

Setup control loop
>>> MOTORS: 0.000 | 0.000 (x1.00)
02:23:01.606387 Control loop thread started with idle time of 0.40s

Start Race.py
Start simulation capture thread
Press CTRL+C to quit
02:23:01.718267 StartDetailedLoging()
>>> MOTORS: 0.000 | 0.000 (x1.00)

02:23:01.787589 StartUserLog()

02:23:01.837210 WaitForGo()

2.0 FPS
02:23:04.448619 Simulation stream lost...

02:23:04.476420 Streaming terminated.

>>> MOTORS: 0.000 | 0.000 (x1.00)
 02:23:04.614255 WaitForSeconds(4.000)
02:23:04.671949 Processor thread 1 terminated


02:23:05.012414 Control loop thread terminated

02:23:08.713310 EndDetailedLog()

02:23:08.794584 EndUserLog()

02:23:08.827612 FinishRace()

>>> MOTORS: 0.000 | 0.000 (x1.00)
Program terminated.
>>> ================================ RESTART ================================
>>> 
Libraries loaded
Running script in directory "/home/pi/formulapi"
Image processor and Race Code Functions loaded
=== NEW SETTINGS ===

[Image setup]
Camera 160 x 120 at 5 fps
X cropped from 0 to 160
Y cropped from 54 to 120
Image processing threads: 1

[Startup]
Initial mode: 1

[Y scan lines]
54 (0)
57 (3)
60 (6)
63 (9)
66 (12)
69 (15)
72 (18)
75 (21)
78 (24)
81 (27)
84 (30)
87 (33)
90 (36)
93 (39)
96 (42)
99 (45)
102 (48)
105 (51)
108 (54)
111 (57)
114 (60)
117 (63)

[Colour identification]
Black limit: 100 100 60
Green gain: 1.10
Blue gain: 1.35
Target level for auto-gain: 200
Erosion factor for colour channels: 2
Final colour minimums: 1 1 1

[Line correction]
Colour edge gap: 24 pixels
Lane gap: 85 pixels
Offset Y calculation target 0: (16)
Corrective gain for derivative: 6.200

[Start marker detection]
Levels: Min Red = 45, Max Green = 50, Max Blue = 50
Start minimum match ratio: 90.0 %
Start crossed delay 0.50 s (2 frames)
Start re-detection delay: 10.0 s
Start detection zone X limits: 64 to 96
Start detection zone Y position: 40
[PID values]
    P0: 0.160000	I0:0.000000	D0: 0.200000
    P1: 0.004000	I1:0.000000	D1: 0.004000
    P2: 0.000000	I2:0.000000	D2: 0.000000

[FIR filter]
    Taps: 3

[Drive settings]
Maximum output: 100.0 %
Steering -50.0 % to +50.0 % (central +0.0 %)
Missing frames before stopping: 2

[Override settings]
Stuck detection threshold: 2.00
Stuck detection time: 1.00 s (5 frames)
Stuck reversing time: 1.50 s (7 frames)
Stuck hunting time: 0.80 s (4 frames)
Stuck colour detection at 80 x 54
Wrong way detection threshold: 10
Wrong way spin time: 1.20 s (6 frames)
Robot in front detection threshold: 38
Overtaking lane shift: 1.00
Overtaking time: 4.00 s (20 frames)

====================

Setup stream processor threads
02:23:21.697140 Processor thread 1 started with idle time of 0.40s

Setup control loop
>>> MOTORS: 0.000 | 0.000 (x1.00)
02:23:21.768039 Control loop thread started with idle time of 0.40s

Start Race.py
Start simulation capture thread
Press CTRL+C to quit
02:23:21.870674 StartDetailedLoging()

02:23:21.898184 StartUserLog()
>>> MOTORS: 0.000 | 0.000 (x1.00)

02:23:21.921567 WaitForGo()

2.6 FPS
5.1 FPS
4.9 FPS
5.1 FPS
4.8 FPS
5.0 FPS
5.1 FPS
>>> LED: ON
02:23:28.721297 Lights: 1 - Green

4.9 FPS
5.0 FPS
02:23:30.725552 Lights: 2 - Red

5.0 FPS
>>> LED: OFF
02:23:32.132746 Lights: 3 - Green

02:23:32.277730 Lights: GO

02:23:32.460809 WaitForWaypoint(2)

>>> MOTORS: 1.000 | 1.000 (x1.00)02:23:32.536091 WaitForDistance(3.470)


02:23:32.599126 LapCount()

02:23:32.619713 GetDistance()

02:23:32.640204 GetDistance()

5.0 FPS
>>> MOTORS: 1.000 | 1.000 (x1.00)
>>> MOTORS: 1.000 | 1.000 (x1.00)02:23:32.910558 LapCount()


02:23:32.961193 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:33.230813 LapCount()

02:23:33.251866 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
>>> MOTORS: 1.000 | 1.000 (x1.00)
 02:23:33.521657 LapCount()

02:23:33.549150 GetDistance()

5.2 FPS
>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:33.819266 LapCount()

02:23:33.839909 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
>>> MOTORS: 1.000 | 1.000 (x1.00)
 02:23:34.115745 LapCount()

02:23:34.168857 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:34.450443 LapCount()

02:23:34.497877 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
5.0 FPS
>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:34.790550 LapCount()

02:23:34.847011 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
>>> MOTORS: 1.000 | 1.000 (x1.00)02:23:35.119140 LapCount()


02:23:35.152872 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:35.423544 LapCount()

02:23:35.444080 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
4.9 FPS
>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:35.714914 LapCount()

02:23:35.735549 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:36.005225 LapCount()

02:23:36.026711 GetDistance()

>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:36.298122 LapCount()

>>> MOTORS: 1.000 | 1.000 (x1.00)02:23:36.319440 GetDistance()


>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:36.600119 LapCount()

02:23:36.621066 GetDistance()

02:23:36.642424 WaitForWaypoint(1)

02:23:36.661461 WaitForDistance(0.000)

4.9 FPS
 02:23:36.682683 LapCount()

02:23:36.714929 GetDistance()

02:23:36.735437 LapCount()

>>> MOTORS: 1.000 | 1.000 (x1.00)
>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:37.005736 LapCount()

>>> MOTORS: 1.000 | 1.000 (x1.00)
02:23:37.284787 LapCount()

>>> MOTORS: 1.000 | 1.000 (x1.00)
>>> MOTORS: 1.000 | 1.000 (x1.00)02:23:37.562246 LapCount()


4.6 FPS
02:23:37.846325 LapCount()

>>> MOTORS: 1.000 | 0.960 (x1.00)
02:23:38.126250 LapCount()

>>> MOTORS: 1.000 | 0.937 (x1.00)
>>> MOTORS: 1.000 | 0.933 (x1.00)
02:23:38.396956 LapCount()

>>> MOTORS: 1.000 | 0.941 (x1.00)
5.7 FPS
02:23:38.666098 LapCount()

>>> MOTORS: 1.000 | 0.923 (x1.00)
>>> MOTORS: 1.000 | 0.886 (x1.00)
02:23:38.937248 LapCount()

>>> MOTORS: 1.000 | 0.864 (x1.00)
02:23:39.212268 LapCount()

>>> MOTORS: 1.000 | 0.838 (x1.00)
02:23:39.502092 LapCount()

>>> MOTORS: 1.000 | 0.851 (x1.00)
4.5 FPS
 02:23:39.791961 LapCount()

>>> MOTORS: 1.000 | 0.856 (x1.00)
>>> MOTORS: 1.000 | 0.879 (x1.00)02:23:40.120718 LapCount()


02:23:40.401253 LapCount()

02:23:40.717163 LapCount()

02:23:41.033039 LapCount()

>>> MOTORS: 1.000 | 0.865 (x1.00)
02:23:41.357785 LapCount()

02:23:41.628534 LapCount()

02:23:41.944325 LapCount()

02:23:42.185348 Simulation stream lost...

02:23:42.221856 Streaming terminated.

02:23:42.260101 LapCount()

02:23:42.279974 GetDistance()

>>> MOTORS: 0.000 | 0.000 (x1.00)
 02:23:42.301192 WaitForSeconds(4.000)

02:23:42.548824 Processor thread 1 terminated

02:23:42.850611 Control loop thread terminated

02:23:46.338299 EndDetailedLog()

02:23:46.371704 EndUserLog()

02:23:46.403089 FinishRace()

>>> MOTORS: 0.000 | 0.000 (x1.00)
Program terminated.
>>>