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This commit is contained in:
JiatongSun
2019-04-16 00:08:25 +08:00
parent 3d29bd73c2
commit 106fbc871e
5 changed files with 30 additions and 8 deletions
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1
energy/include/energy/energy.h
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@@ -39,6 +39,7 @@ public:
private: private:
EnergyPartParam energy_part_param_; EnergyPartParam energy_part_param_;
LiftHeight lift_height_;
int fans_cnt; int fans_cnt;
int armors_cnt; int armors_cnt;
int count; int count;

10
energy/include/energy/param_struct_define.h
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@@ -49,6 +49,16 @@ struct EnergyPartParam {
float TWIN_ANGEL_MAX; float TWIN_ANGEL_MAX;
}; };
struct LiftHeight{
float LIFT_0;
float LIFT_30;
float LIFT_60;
float LIFT_90;
float LIFT_minus_30;
float LIFT_minus_60;
float LIFT_minus_90;
};
typedef struct GMAngle_t{ typedef struct GMAngle_t{
float yaw; float yaw;
float pitch; float pitch;

4
energy/src/energy/get/gimble_rotation_get.cpp
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@@ -23,8 +23,8 @@ void Energy::gimbleRotation(){
// yaw_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(YAW_ORIGIN_RAD)-real_hit_point.x), ATTACK_DISTANCE)); // yaw_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(YAW_ORIGIN_RAD)-real_hit_point.x), ATTACK_DISTANCE));
// pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(PITCH_ORIGIN_RAD)-real_hit_point.y), ATTACK_DISTANCE)); // pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(PITCH_ORIGIN_RAD)-real_hit_point.y), ATTACK_DISTANCE));
yaw_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(mark_yaw*PI/180)-real_hit_point.x), ATTACK_DISTANCE)); yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_yaw*PI/180)-real_hit_point.x), attack_distance));
pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(mark_pitch*PI/180)-real_hit_point.y), ATTACK_DISTANCE)); pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
// yaw_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(3.5*PI/180)-STRETCH*(hit_point.x-cycle_center.x)), ATTACK_DISTANCE)); // yaw_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(3.5*PI/180)-STRETCH*(hit_point.x-cycle_center.x)), ATTACK_DISTANCE));
// pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(9.1*PI/180)-STRETCH*(hit_point.y-cycle_center.y)), ATTACK_DISTANCE)); // pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(9.1*PI/180)-STRETCH*(hit_point.y-cycle_center.y)), ATTACK_DISTANCE));

9
energy/src/energy/param_init.cpp
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@@ -11,7 +11,7 @@ using std::vector;
void Energy::initEnergyPartParam() { void Energy::initEnergyPartParam() {
energy_part_param_.RPM = 10; energy_part_param_.RPM = 10;
energy_part_param_.HIT_TIME = 1.0; energy_part_param_.HIT_TIME = 1.5;
energy_part_param_.GRAY_THRESH = 240; energy_part_param_.GRAY_THRESH = 240;
energy_part_param_.SPLIT_GRAY_THRESH = 80; energy_part_param_.SPLIT_GRAY_THRESH = 80;
@@ -36,6 +36,13 @@ void Energy::initEnergyPartParam() {
energy_part_param_.TWIN_ANGEL_MAX = 10; energy_part_param_.TWIN_ANGEL_MAX = 10;
lift_height_.LIFT_0 = 0;
lift_height_.LIFT_30 = 0;
lift_height_.LIFT_60 = 0;
lift_height_.LIFT_90 = 10;
lift_height_.LIFT_minus_30 = 0;
lift_height_.LIFT_minus_60 = 0;
lift_height_.LIFT_minus_90 = 0;
} }

14
energy/src/energy/run.cpp
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@@ -12,6 +12,7 @@ extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch;
extern int mark; extern int mark;
int Energy::run(cv::Mat &src){ int Energy::run(cv::Mat &src){
// imshow("src",src);
fans.clear(); fans.clear();
armors.clear(); armors.clear();
fanPosition.clear(); fanPosition.clear();
@@ -31,11 +32,11 @@ int Energy::run(cv::Mat &src){
// imshow("bin",src); // imshow("bin",src);
// fans_cnt = findFan(src, fans, last_fans_cnt); fans_cnt = findFan(src, fans, last_fans_cnt);
// cout<<"fans_cnt: "<<fans_cnt<<endl; // cout<<"fans_cnt: "<<fans_cnt<<endl;
// if(fans_cnt==-1) return 0;//滤去漏判的帧 if(fans_cnt==-1) return 0;//滤去漏判的帧
// if(fans_cnt>0)showFanContours("fan",src,fans); // if(fans_cnt>0)showFanContours("fan",src,fans);
fans_cnt=0; // fans_cnt=0;
armors_cnt = findArmor(src, armors, last_armors_cnt); armors_cnt = findArmor(src, armors, last_armors_cnt);
// cout<<"armors_cnt: "<<armors_cnt<<endl; // cout<<"armors_cnt: "<<armors_cnt<<endl;
@@ -61,8 +62,11 @@ int Energy::run(cv::Mat &src){
cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl; cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
cycleLeastFit(); cycleLeastFit();
cycle_center = cv::Point(414,227);
radius = 203.728; cycle_center = cv::Point(332,233);
radius = 208.835;
attack_distance = ATTACK_DISTANCE * 203.728 / radius;
getFanPosition(fanPosition, fans, cycle_center, radius); getFanPosition(fanPosition, fans, cycle_center, radius);
getArmorPosition(armorPosition, armors, cycle_center, radius); getArmorPosition(armorPosition, armors, cycle_center, radius);
findTarget(fanPosition, armorPosition, target_armor); findTarget(fanPosition, armorPosition, target_armor);