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This commit is contained in:
JiatongSun
2019-04-27 16:22:23 +08:00
parent 4e47b38d7d
commit 27d88c8cee
4 changed files with 32 additions and 20 deletions
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1
energy/include/energy/energy.h
View File

@@ -40,6 +40,7 @@ private:
EnergyPartParam energy_part_param_;
LiftHeight lift_height_;
bool isSendTarget;
int fans_cnt;
int armors_cnt;
int count;

2
energy/src/energy/energy.cpp
View File

@@ -12,6 +12,8 @@ Energy::Energy(Uart &u):uart(u),
src_blue(SRC_HEIGHT, SRC_WIDTH, CV_8UC1),
src_red(SRC_HEIGHT, SRC_WIDTH, CV_8UC1)
{
isSendTarget = false;
fans_cnt = 0;
armors_cnt = 0;
cycle_center = Point(0, 0);

46
energy/src/energy/get/hit_point_get.cpp
View File

@@ -12,75 +12,81 @@ using std::vector;
void Energy::getHitPoint(){
int hit_position = 1000;
int limit_angle = 3;
int angle_interval = 60;
if(energy_part_rotation==1){ //顺时针
if(target_armor>=0&&target_armor<60){
if(target_armor>=0 && target_armor<=limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -60;
hit_position = -1*angle_interval;
}
if(target_armor>=60&&target_armor<120){
if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 0;
}
if(target_armor>=120&&target_armor<=180){
if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 60;
hit_position = angle_interval;
}
if(target_armor>=-180&&target_armor<-120){
if(target_armor>=-180 && target_armor<-180+limit_angle){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 120;
hit_position = 2*angle_interval;
}
if(target_armor>=-120&&target_armor<-60){
if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){
hit_point.x = cycle_center.x - static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 180;
}
if(target_armor>=-60&&target_armor<0){
if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle) {
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -120;
hit_position = -2 * angle_interval;
}
else return;
}
if(energy_part_rotation==-1){ //逆时针
if(target_armor>=0&&target_armor<60){
if(target_armor>=0 && target_armor<=limit_angle){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 120;
hit_position = 2*angle_interval;
}
if(target_armor>=60&&target_armor<120){
if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
hit_point.x = cycle_center.x - static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 180;
}
if(target_armor>=120&&target_armor<=180){
if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -120;
hit_position = -2*angle_interval;
}
if(target_armor>=-180&&target_armor<-120){
if(target_armor>=-180 && target_armor<-180+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -60;
hit_position = -1*angle_interval;
}
if(target_armor>=-120&&target_armor<-60){
if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 0;
}
if(target_armor>=-60&&target_armor<0){
if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 60;
hit_position = angle_interval;
}
else return;
}
cout<<"hit position: "<<hit_position<<endl;
isSendTarget = true;
// double rad = static_cast<double>(energy_part_rotation * energy_part_param_.RPM
// * energy_part_param_.HIT_TIME * 360 / 60);
// rotate(rad, radius, cycle_center, target_center, hit_point);

3
energy/src/energy/run.cpp
View File

@@ -66,6 +66,9 @@ int Energy::run(cv::Mat &src){
cout << "The hit point position is " << hit_point << endl;
// hit_point = cycle_center;
if(!isSendTarget)return 0;
gimbleRotation();
sendTargetByUart(yaw_rotation, pitch_rotation, attack_distance);