From b5ad1fa7f8037800ff475ccfa69487c1d78f363e Mon Sep 17 00:00:00 2001 From: lyf <169361657@qq.com> Date: Fri, 5 Dec 2025 14:35:59 +0800 Subject: [PATCH] 123 --- src/MindVisionMain.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/MindVisionMain.cpp b/src/MindVisionMain.cpp index 9248c6c..6bf0198 100644 --- a/src/MindVisionMain.cpp +++ b/src/MindVisionMain.cpp @@ -82,8 +82,8 @@ void output_control_data(const cv::Point2f* ballistic_point, // Convert PID outputs to the expected format // The PID output might be large, so we might need to scale it - int ballistic_offset_yaw = 1.9*-static_cast(pid_yaw_output); - int ballistic_offset_pitch = 1.9*-static_cast(pid_pitch_output); + int ballistic_offset_yaw = 1.9 * (-static_cast(pid_yaw_output)); + int ballistic_offset_pitch = 1.9 * (-static_cast(pid_pitch_output)); // Apply same limits as before if (abs(ballistic_offset_yaw) > 320) { @@ -127,7 +127,7 @@ int main(int /*argc*/, char* /*argv*/[]) { std::string target_color = "red"; int cam_id = 0; cv::Size default_resolution(1280, 720); // Changed to 640x480 for consistency with SJTU project - bool use_ttl = false; // Set to false to disable TTL communication + bool use_ttl = true; // Set to false to disable TTL communication if (Numbe == 0) {