反陀螺v1.1。

armor/include/armor_finder/armor_finder.h

@@ -123,7 +123,7 @@ private:
 
 public:
     void run(cv::Mat &src);                             // 自瞄主函数
-    bool sendBoxPosition(bool shoot);                             // 和主控板通讯
+    bool sendBoxPosition(uint8_t shoot, bool isTrack);                             // 和主控板通讯
 };
 
 #endif /* _ARMOR_FINDER_H_ */

armor/src/armor_finder/anti_top/anti_top.cpp

@@ -13,31 +13,34 @@ void ArmorFinder::antiTop() {
     static double top_periodms = 0;
     static double last_top_periodms = 0;
     timeval curr_time;
-    bool shoot = 0;
+    uint8_t shoot = 0;
     /*if(anti_top_state == ANTI_TOP){
         cout << "anti top" << endl;
     }else if(anti_top_state == NORMAL){
         cout << "Normal" << endl;
     }*/
-    ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
-    if(orientation == ArmorBox::UNKNOWN){
-        if(anti_top_state == NORMAL){
-            sendBoxPosition(shoot);
-            return;
-        }else{
-            return;
-        }
-    }
     gettimeofday(&curr_time, nullptr);
     auto interval = getTimeIntervalms(curr_time, last_front_time);
     LOGM("interval:%.1lf", interval);
-    if(anti_top_state == ANTI_TOP && (top_periodms+last_top_periodms)/2.0-130<interval&&interval<(top_periodms+last_top_periodms)/2.0-70){
+    if(anti_top_state == ANTI_TOP && (top_periodms+last_top_periodms)/2.0-120<interval&&interval<(top_periodms+last_top_periodms)/2.0-80){
         shoot = 1;
-//        LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
     }else if(interval > 700){
         anti_top_state = NORMAL;
         anti_top_cnt = 0;
     }
+    
+    ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
+    if(orientation == ArmorBox::UNKNOWN){
+        if(anti_top_state == NORMAL){
+            sendBoxPosition(shoot, true);
+            return;
+        }else{
+            sendBoxPosition(shoot, false);
+            return;
+        }
+    }
+
+
     if(orientation != last_orient){
         if(interval > 700){
             anti_top_cnt = 0;
@@ -64,10 +67,12 @@ void ArmorFinder::antiTop() {
 
     if(anti_top_state == ANTI_TOP){
         if(orientation == ArmorBox::FRONT){
-            sendBoxPosition(shoot);
+            sendBoxPosition(shoot, true);
+        }else if(shoot){
+            sendBoxPosition(shoot, false);
         }
     }else if(anti_top_state == NORMAL){
-        sendBoxPosition(shoot);
+        sendBoxPosition(shoot, true);
     }
 
 

armor/src/armor_finder/armor_box/armor_box.cpp

@@ -70,7 +70,7 @@ ArmorBox::BoxOrientation ArmorBox::getOrientation() const{
         case B3:
         case B4:
         case B5:
-            if (lengthDistanceRatio() < 0.45) {
+            if (lengthDistanceRatio() < 0.46) {
                 return FRONT;
             }else{
                 return SIDE;

armor/src/armor_finder/find/find_light_blobs.cpp

@@ -122,7 +122,7 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
         color_channel = channels[0];        /* 根据目标颜色进行通道提取 */
     else if (enemy_color == ENEMY_RED)      /*                      */
         color_channel = channels[2];        /************************/
-    cv::threshold(color_channel, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道
+    cv::threshold(color_channel, src_bin, 140, 255, CV_THRESH_BINARY); // 二值化对应通道
     imagePreProcess(src_bin);                                  // 开闭运算
 
     if(src_bin.size() == cv::Size(640, 480) && show_light_blobs)

armor/src/armor_finder/send_target/send_target.cpp

@@ -3,6 +3,7 @@
 //
 
 #include <armor_finder/armor_finder.h>
+#include<log.h>
 
 static bool sendTarget(Serial &serial, double x, double y, double z, uint8_t shoot) {
     static short x_tmp, y_tmp, z_tmp;
@@ -35,7 +36,7 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint8_t sho
     return serial.WriteData(buff, sizeof(buff));
 }
 
-bool ArmorFinder::sendBoxPosition(bool shoot) {
+bool ArmorFinder::sendBoxPosition(uint8_t shoot, bool isTrack) {
     if(armor_box.rect == cv::Rect2d()) return false;
     auto rect = armor_box.rect;
     double dx = rect.x + rect.width / 2 - 320;
@@ -44,5 +45,15 @@ bool ArmorFinder::sendBoxPosition(bool shoot) {
     double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
     double dist = DISTANCE_HEIGHT / rect.height;
 //    cout << yaw << endl;
-    return sendTarget(serial, yaw, -pitch, dist, shoot);
+    if(isTrack){
+        if(shoot){
+            LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
+        }
+        return sendTarget(serial, yaw, -pitch, dist, shoot);
+        LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
+        return sendTarget(serial, 0, -0, dist, 1);
+    }else if(shoot){
+        LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
+        return sendTarget(serial, 0, 0, 4, 1);
+    }
 }

tools/para/conv1_b

@@ -1,7 +1,7 @@
 6
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-1.5563219
+-0.20627302
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+1.7967451
+1.4466392
+-0.098023266
+-0.006771178

tools/para/conv1_w

@@ -2,453 +2,453 @@
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