From 3d29bd73c2f5de23b0b5f38ec8d5e93b09dd95ff Mon Sep 17 00:00:00 2001
From: JiatongSun <SJT_sjtu1998@163.com>
Date: Mon, 15 Apr 2019 20:03:39 +0800
Subject: [PATCH] Auto Aim

---
 energy/src/energy/run.cpp | 6 +++---
 main.cpp                  | 8 ++++----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index a379ace..dfdbae9 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -61,8 +61,8 @@ int Energy::run(cv::Mat &src){
     cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
     cycleLeastFit();
 
-    cycle_center = cv::Point(416,227);
-    radius = 203.665;
+    cycle_center = cv::Point(414,227);
+    radius = 203.728;
     getFanPosition(fanPosition, fans, cycle_center, radius);
     getArmorPosition(armorPosition, armors, cycle_center, radius);
     findTarget(fanPosition, armorPosition, target_armor);
@@ -81,7 +81,7 @@ int Energy::run(cv::Mat &src){
     cout<<"curr_yaw: "<<curr_yaw<<'\t'<<"curr_pitch: "<<curr_pitch<<endl;
     cout<<"mark_yaw: "<<mark_yaw<<'\t'<<"mark_pitch: "<<mark_pitch<<endl;
 
-    cout<<"send_cnt: "<<send_cnt<<endl;
+//    cout<<"send_cnt: "<<send_cnt<<endl;
 
 }
 
diff --git a/main.cpp b/main.cpp
index b7ef410..8ff685d 100644
--- a/main.cpp
+++ b/main.cpp
@@ -114,10 +114,10 @@ void uartReceive(Uart* uart){
             memcpy(&curr_yaw, buffer, 4);
             memcpy(&curr_pitch, buffer+4, 4);
 //            LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
-            if(buffer[9] == 1){
-                mark = 1;
-                mark_yaw = curr_yaw;
-                mark_pitch = curr_pitch;
+            if(buffer[9] == 1 && mark == 0){
+                    mark = 1;
+                    mark_yaw = curr_yaw;
+                    mark_pitch = curr_pitch;
 //                LOGM("Marked");
             }
         }