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energy changed

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sun
2019-07-29 22:48:01 +08:00
parent 00351599b1
commit 0522009d2d
6 changed files with 59 additions and 24 deletions
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1
energy/include/energy/energy.h
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@@ -163,6 +163,7 @@ private:
bool guessTarget();//获得猜测击打点位
bool getOrigin();//获得云台对心所需角度
void changeTarget();//判断目标是否改变
void getCenter();//对心
void multipleMode(cv::Mat &src);//多模式切换
void getTargetPolarAngle();//获得目标装甲板极坐标角度
void getPredictPoint(cv::Point target_point);//获取预测点位

2
energy/src/energy/clear/energy_init.cpp
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@@ -45,7 +45,7 @@ void Energy::initEnergy() {
last_target_polar_angle = -1000;
guess_polar_angle = -1000;
last_base_angle = -1000;
predict_rad = 25;
predict_rad = 27;
attack_distance = ATTACK_DISTANCE;
center_delta_yaw = 1000;
center_delta_pitch = 1000;

47
energy/src/energy/get/aim_point_get.cpp
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@@ -17,31 +17,34 @@ extern mcu_data mcuData;
void Energy::getAimPoint(cv::Point target_point_) {
float target_polar_angle_ = static_cast<float>(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y),
(target_point_.x - circle_center_point.x)));
if (target_polar_angle_ > 40 && target_polar_angle_ < 140){
extra_delta_x = 0;
extra_delta_y = -14;
}
else if (target_polar_angle_ > 30 && target_polar_angle_ <= 40){
extra_delta_x = 8;
extra_delta_y = -8;
}
else if (target_polar_angle_ >= 140 && target_polar_angle_ < 150){
extra_delta_x = -8;
extra_delta_y = -8;
}
else {
extra_delta_x = 0;
extra_delta_y = 0;
}
// if (target_polar_angle_ > 20 && target_polar_angle_ <= 90) {
// extra_delta_y = -17 * (target_polar_angle_ - 20) / 70;
// } else if (target_polar_angle_ > 90 && target_polar_angle_ < 160) {
// extra_delta_y = -17 * (160 - target_polar_angle_) / 70;
// } else {
// if (target_polar_angle_ > 40 && target_polar_angle_ < 140){
// extra_delta_x = 0;
// extra_delta_y = -10;
// }
// else if (target_polar_angle_ > 30 && target_polar_angle_ <= 40){
// extra_delta_x = 8;
// extra_delta_y = -8;
// }
// else if (target_polar_angle_ >= 140 && target_polar_angle_ < 150){
// extra_delta_x = -8;
// extra_delta_y = -8;
// }
// else {
// extra_delta_x = 0;
// extra_delta_y = 0;
// }
if (target_polar_angle_ > 0 && target_polar_angle_ <= 90) {
// extra_delta_x = EXTRA_DELTA_X * (90 - target_polar_angle_) / 90;
extra_delta_y = - EXTRA_DELTA_Y * target_polar_angle_ / 90;
} else if (target_polar_angle_ > 90 && target_polar_angle_ < 180) {
// extra_delta_x = - EXTRA_DELTA_X * (target_polar_angle_ - 90) / 90;
extra_delta_y = - EXTRA_DELTA_Y * (180 - target_polar_angle_) / 90;
} else {
// extra_delta_x = 0;
extra_delta_y = 0;
}
double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x - extra_delta_x);
double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y - extra_delta_y);
yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;

17
energy/src/energy/get/origin_get.cpp
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@@ -10,12 +10,27 @@ using namespace std;
using namespace cv;
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于对心
// ---------------------------------------------------------------------------------------------------------------------
void Energy::getCenter(){
double dx = -(circle_center_point.x - 320 - COMPENSATE_YAW);
double dy = -(circle_center_point.y - 240 - COMPENSATE_PITCH);
yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
if (abs(yaw_rotation) < 0.5 && abs(pitch_rotation) < 0.5) {
shoot = 4;
} else
shoot = 2;
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于获得云台对心得到的初始yaw和pitch（即以该yaw和pitch发射子弹，可以击中风车中心）
// ---------------------------------------------------------------------------------------------------------------------
bool Energy::getOrigin() {
if (!auto_mark && !manual_mark) {
//五号车
double dx = -(circle_center_point.x - 320 - COMPENSATE_YAW);
double dy = -(circle_center_point.y - 240 - COMPENSATE_PITCH);
center_delta_yaw = static_cast<float>(atan(dx / FOCUS_PIXAL) * 180 / PI);

10
energy/src/energy/run.cpp
View File

@@ -3,6 +3,7 @@
//
#include "energy/energy.h"
#include "log.h"
#include "config/setconfig.h"
#include "options/options.h"
#include <sys/time.h>
@@ -85,6 +86,11 @@ void Energy::runBig(cv::Mat &gimbal_src) {
if (show_energy)showFlowStripFan("strip", gimbal_src);
if (!findCenterR(gimbal_src))return;
if (show_energy)showCenterR("R", gimbal_src);
// getCenter();
// sendEnergy();
// return;
changeTarget();
getTargetPolarAngle();
if (energy_rotation_init) {
@@ -114,6 +120,10 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
if (!findTargetInFlowStripFan()) return;
if (!findFlowStrip(gimbal_src))return;
// getCenter();
// sendEnergy();
// return;
changeTarget();
if (save_mark)writeDownSlightChange(gimbal_src);
getPredictPoint(target_point);