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.gitignore:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

CMakeLists.txt:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

LICENSE:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

README.md:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

inc/BallisticPredictor.h:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

inc/Camera.h:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

inc/ImagePreprocessor.h:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

inc/KalmanFilter.h:Zone.Identifier

@@ -1,2 +0,0 @@
-[ZoneTransfer]
-ZoneId=3

inc/MindVisionCamera.h:Zone.Identifier

@@ -1,2 +0,0 @@
-[ZoneTransfer]
-ZoneId=3

inc/TTLCommunicator.h:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

inc/Visualizer.h:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

src/ArmorDetector.cpp:Zone.Identifier

@@ -1,2 +0,0 @@
-[ZoneTransfer]
-ZoneId=3

src/BallisticPredictor.cpp:Zone.Identifier

@@ -1,2 +0,0 @@
-[ZoneTransfer]
-ZoneId=3

src/Camera.cpp:Zone.Identifier

@@ -1,2 +0,0 @@
-[ZoneTransfer]
-ZoneId=3

src/ImagePreprocessor.cpp:Zone.Identifier

@@ -1,2 +0,0 @@
-[ZoneTransfer]
-ZoneId=3

src/KalmanFilter.cpp:Zone.Identifier

@@ -1,2 +0,0 @@
-[ZoneTransfer]
-ZoneId=3

src/MindVisionCamera.cpp:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

src/MindVisionMain.cpp

@@ -6,7 +6,7 @@
 #include <thread>
 #include <memory>
 #include <unistd.h>
-
+#include <math.h>
 #include <opencv2/opencv.hpp>
 #include <opencv2/tracking.hpp>
 
@@ -30,13 +30,13 @@ void output_control_data(const cv::Point2f* ballistic_point,
         std::ostringstream send_str;
 
         // Calculate offset (based on actual image center)
-        int ballistic_offset_x = -static_cast<int>(ballistic_point->x - img_center.x);
-        if ( abs(ballistic_offset_x) > 320){
-            ballistic_offset_x = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 320 ;
+        int ballistic_offset_yaw = 1.9*-static_cast<int>(ballistic_point->x - img_center.x);
+        if ( abs(ballistic_offset_yaw) > 320){
+            ballistic_offset_yaw = ( ballistic_offset_yaw / abs( ballistic_offset_yaw ) ) * 220 ;
         }
-        int ballistic_offset_y = -static_cast<int>(img_center.y - ballistic_point->y);
-        if ( abs(ballistic_offset_y) > 180 ) {
-            ballistic_offset_y = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 180 ;
+        int ballistic_offset_pitch = 1.9*-static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_pitch) > 180 ) {
+            ballistic_offset_pitch = ( ballistic_offset_pitch / abs( ballistic_offset_pitch ) ) * 180*1.9 ;
         }
 
         // Color simplification mapping
@@ -45,7 +45,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
         else if (target_color == "blue") simplified_color = "b";
 
         // Construct send string (original format)
-        send_str << "#s " << simplified_color << " " << std::to_string(ballistic_offset_x) << " " << std::to_string(ballistic_offset_y) << "*\n";
+        send_str << "#s " << simplified_color << " " << std::to_string(ballistic_offset_yaw) << " " << std::to_string(ballistic_offset_pitch) << "*\n";
 
         // Send data
         if (ttl_communicator != nullptr) {
@@ -298,9 +298,9 @@ int main(int /*argc*/, char* /*argv*/[]) {
             output_control_data(display_center, target_color, ttl, img_center, use_ttl);
 
             // Display windows
-            cv::imshow("Armor Detection", frame);
             cv::imshow(target_color + " Mask", mask);
             cv::imshow(target_color + " Only", color_only_frame);
+            cv::imshow("Armor Detection", frame);
 
             // Exit on 'q' key press
             if (cv::waitKey(1) == 'q') {

src/TTLCommunicator.cpp:Zone.Identifier

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-[ZoneTransfer]
-ZoneId=3

src/Visualizer.cpp:Zone.Identifier

@@ -1,2 +0,0 @@
-[ZoneTransfer]
-ZoneId=3