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This commit is contained in:
JiatongSun
2019-05-07 09:33:28 +08:00
parent 7fcd8e6c84
commit 508004c548
9 changed files with 191 additions and 120 deletions
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2
energy/include/energy/energy.h
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@@ -60,6 +60,8 @@ private:
double phi;//电机yaw轴应旋转的角度 double phi;//电机yaw轴应旋转的角度
float yaw_rotation; float yaw_rotation;
float pitch_rotation; float pitch_rotation;
int position_mode;
int last_position_mode;
int isLeftVertexFound, isTopVertexFound, isRightVertexFound, isBottomVertexFound; int isLeftVertexFound, isTopVertexFound, isRightVertexFound, isBottomVertexFound;
std::vector<EnergyPart> fans; std::vector<EnergyPart> fans;

2
energy/src/energy/calculate/cycle_calculate.cpp
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@@ -58,7 +58,7 @@ void Energy::cycleLeastFit()
radius = 0.0f; radius = 0.0f;
if (all_armor_centers.size() < 3) if (all_armor_centers.size() < 3)
{ {
cout<<"Cannot calculate a circle"<<endl; // cout<<"Cannot calculate a circle"<<endl;
return; return;
} }

27
energy/src/energy/calibrate/structing.cpp
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@@ -17,20 +17,25 @@ void Energy::StructingElementClose(cv::Mat &src,int length, int width){
void Energy::StructingElementErodeDilate(cv::Mat &src) { void Energy::StructingElementErodeDilate(cv::Mat &src) {
cv::Mat src_out, src_out_out; cv::Mat src_out, src_out_out;
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(6, 6)); Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(10, 10)); Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 1));
Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(2, 2)); Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(8, 6));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3)); Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(4,4));
Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(3, 3));
dilate(src, src, element_dilate_1);
imshow("dilate_1", src); // dilate(src, src, element_dilate_1);
// imshow("dilate_1", src);
erode(src,src, element_erode_1); erode(src,src, element_erode_1);
imshow("erode_1", src); imshow("erode_1", src);
// dilate(src, src, element_dilate_2); dilate(src, src, element_dilate_2);
// imshow("dilate_2", src); imshow("dilate_2", src);
//
// erode(src,src, element_erode_2); erode(src,src, element_erode_2);
// imshow("erode_2", src); imshow("erode_2", src);
dilate(src, src, element_dilate_3);
imshow("dilate_3", src);
} }

3
energy/src/energy/energy.cpp
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@@ -50,6 +50,9 @@ Energy::Energy(Uart &u):uart(u),
top = Point(640, 480); top = Point(640, 480);
bottom = Point(0, 0); bottom = Point(0, 0);
position_mode = 0;
last_position_mode = 0;
initEnergyPartParam(); initEnergyPartParam();
} }

1
energy/src/energy/find/energy_finder.cpp
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@@ -71,6 +71,7 @@ int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_
std::vector<vector<Point> > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。 std::vector<vector<Point> > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。
StructingElementErodeDilate(src_bin); StructingElementErodeDilate(src_bin);
// StructingElementClose(src_bin,10,10);
imshow("armor struct",src_bin); imshow("armor struct",src_bin);
findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);

21
energy/src/energy/get/gimble_rotation_get.cpp
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@@ -24,7 +24,28 @@ void Energy::gimbleRotation(){
// 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));
if(position_mode == 1){
pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
}
if(position_mode == 2){
pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
}
if(position_mode == 3){
pitch_rotation = 4.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
}
if(position_mode == 4){
pitch_rotation = 4.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
}
if(position_mode == 5){
pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
}
if(position_mode == 6){
pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
}
// else{
// pitch_rotation = 5.5+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));

127
energy/src/energy/get/hit_point_get.cpp
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@@ -16,38 +16,47 @@ void Energy::getHitPoint(){
int angle_interval = 60; int angle_interval = 60;
if(energy_part_rotation==1){ //顺时针 if(energy_part_rotation==1){ //顺时针
if(target_armor>=15 && target_armor<=15+limit_angle){ if(target_armor>=0 && target_armor<=limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2); 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_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -1*angle_interval; hit_position = -1*angle_interval;
position_mode = 1;
// cout<<"666"<<'\t'<<hit_position<<endl;
}
else 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;
position_mode = 2;
}
else 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 = angle_interval;
position_mode = 3;
}
else 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 = 2*angle_interval;
position_mode = 4;
}
else 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;
position_mode = 5;
}
else 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 = -2 * angle_interval;
position_mode = 6;
} }
// 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>=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 = angle_interval;
// }
// 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 = 2*angle_interval;
// }
// 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>=-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 = -2 * angle_interval;
// }
else{ else{
last_hit_position = 2000; // last_hit_position = 2000;
position_mode = 0;
return; return;
} }
} }
@@ -57,54 +66,84 @@ void Energy::getHitPoint(){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2); 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_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 2*angle_interval; hit_position = 2*angle_interval;
position_mode = 1;
} }
if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){ else if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
hit_point.x = cycle_center.x - static_cast<int>(radius); hit_point.x = cycle_center.x - static_cast<int>(radius);
hit_point.y = cycle_center.y; hit_point.y = cycle_center.y;
hit_position = 180; hit_position = 180;
position_mode = 2;
} }
if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){ else 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.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2); hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -2*angle_interval; hit_position = -2*angle_interval;
position_mode = 3;
} }
if(target_armor>=-180 && target_armor<-180+limit_angle){ else if(target_armor>=-180 && target_armor<-180+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2); 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_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -1*angle_interval; hit_position = -1*angle_interval;
position_mode = 4;
} }
if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){ else 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.x = cycle_center.x + static_cast<int>(radius);
hit_point.y = cycle_center.y; hit_point.y = cycle_center.y;
hit_position = 0; hit_position = 0;
position_mode = 5;
} }
if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle){ else 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.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2); hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = angle_interval; hit_position = angle_interval;
position_mode = 6;
} }
else{ else{
last_hit_position = 2000; // last_hit_position = 2000;
position_mode = 0;
return; return;
} }
} }
if(hit_position>360&&last_hit_position>360){
isSendTarget = false;
return;
}
if(fabs(hit_position - last_hit_position) < 30||fabs(hit_position - last_hit_position) > 330 && fabs(hit_position - last_hit_position) <= 360){ // cout<<"last: "<<last_position_mode<<'\t'<<"now: "<<position_mode<<endl;
last_hit_position = hit_position;
isSendTarget = false; if(position_mode!=0 && position_mode!=last_position_mode){
return; // last_hit_position = hit_position;
} last_position_mode = position_mode;
else{
last_hit_position = hit_position;
isSendTarget = true; isSendTarget = true;
cout<<"hit position: "<<hit_position<<endl; cout<<"hit position: "<<hit_position<<endl;
return; return;
} }
else if(position_mode == 0){
// last_hit_position = hit_position;
// last_position_mode = position_mode;
isSendTarget = false;
return;
}
else{
// last_hit_position = hit_position;
last_position_mode = position_mode;
isSendTarget = false;
return;
}
// if(hit_position>360&&last_hit_position>360){
// isSendTarget = false;
// return;
// }
// if(fabs(hit_position - last_hit_position) < 15||fabs(hit_position - last_hit_position) > 345 && fabs(hit_position - last_hit_position) <= 360){
// last_hit_position = hit_position;
// isSendTarget = false;
// return;
// }
// else{
// last_hit_position = hit_position;
// isSendTarget = true;
// cout<<"hit position: "<<hit_position<<endl;
// return;
// }
// double rad = static_cast<double>(energy_part_rotation * energy_part_param_.RPM // double rad = static_cast<double>(energy_part_rotation * energy_part_param_.RPM
// * energy_part_param_.HIT_TIME * 360 / 60); // * energy_part_param_.HIT_TIME * 360 / 60);

13
energy/src/energy/run.cpp
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@@ -12,7 +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); imshow("src",src);
fans.clear(); fans.clear();
armors.clear(); armors.clear();
fanPosition.clear(); fanPosition.clear();
@@ -52,14 +52,14 @@ 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(338,296); // cycle_center = cv::Point(335, 246);
// radius = 119.22; // radius = 116.936;
attack_distance = ATTACK_DISTANCE * 130 / radius; attack_distance = ATTACK_DISTANCE * 120/ 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);
cout << "The target armor's position is " << target_armor << endl; // cout << "The target armor's position is " << target_armor << endl;
// cout<<"The target armor center is: "<<target_center<<endl; // cout<<"The target armor center is: "<<target_center<<endl;
getHitPoint(); getHitPoint();
@@ -68,7 +68,8 @@ int Energy::run(cv::Mat &src){
if(!isSendTarget)return 0; if(!isSendTarget)return 0;
cout<<"send"<<endl; // cout<<"send"<<endl;
cout<<"position mode: "<<position_mode<<endl;
gimbleRotation(); gimbleRotation();

85
main.cpp
View File

@@ -26,116 +26,115 @@ using namespace cv;
using namespace std; using namespace std;
int state = ARMOR_STATE; int state = ENERGY_STATE;
float curr_yaw = 0, curr_pitch = 0; float curr_yaw=0, curr_pitch=0;
float mark_yaw = 0, mark_pitch = 0; float mark_yaw=0, mark_pitch=0;
int mark = 0; int mark = 0;
void uartReceive(Uart *uart); void uartReceive(Uart* uart);
int main(int argc, char *argv[]) { int main(int argc, char *argv[]){
process_options(argc, argv); process_options(argc, argv);
Uart uart; Uart uart;
thread receive(uartReceive, &uart); thread receive(uartReceive, &uart);
bool flag = true; bool flag = true;
while (flag) { while (flag){
int ally_color = ALLY_RED; int ally_color = ALLY_RED;
int energy_part_rotation = CLOCKWISE; int energy_part_rotation = CLOCKWISE;
int from_camera = 1; int from_camera = 1;
if (!run_with_camera) { if(!run_with_camera) {
cout << "Input 1 for camera, 0 for video files" << endl; cout << "Input 1 for camera, 0 for video files" << endl;
cin >> from_camera; cin >> from_camera;
} }
WrapperHead *video_armor; WrapperHead *video_armor;
WrapperHead *video_energy; WrapperHead *video_energy;
if (from_camera) { if(from_camera) {
video_armor = new CameraWrapper(0); // video_armor = new CameraWrapper(0);
video_energy = new CameraWrapper(1); video_energy = new CameraWrapper(1);
} else { }else {
video_armor = new VideoWrapper("/home/xinyang/Desktop/Video.mp4"); video_armor = new VideoWrapper("r_l_640.avi");
video_energy = new VideoWrapper("/home/xinyang/Desktop/Video.mp4"); video_energy = new VideoWrapper("r_l_640.avi");
} }
if (video_armor->init()) { if (video_energy->init()) {
cout << "Video source initialization successfully." << endl; cout << "Video source initialization successfully." << endl;
} }
Mat energy_src, armor_src; Mat energy_src, armor_src;
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/"); ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
Energy energy(uart); Energy energy(uart);
energy.setAllyColor(ally_color); energy.setAllyColor(ally_color);
energy.setRotation(energy_part_rotation); energy.setRotation(energy_part_rotation);
bool ok = true; bool ok=true;
while (ok) { while (ok){
CNT_TIME(WORD_LIGHT_CYAN, "Total", { // CNT_TIME(WORD_LIGHT_CYAN, "Total", {
if (state == ENERGY_STATE) { // ok = video_energy->read(energy_src) && video_energy->read(armor_src);
ok = video_energy->read(energy_src); ok = video_energy->read(energy_src);
if (show_origin) { if (show_origin) {
imshow("energy src", energy_src); imshow("enery src", energy_src);
imshow("armor src", armor_src);
} }
if (state == ENERGY_STATE) {
if (from_camera == 0) { if (from_camera == 0) {
energy.extract(energy_src); energy.extract(energy_src);
} }
energy.run(energy_src); energy.run(energy_src);
} else { } else {
ok = video_armor->read(armor_src); // CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
if (show_origin) { // armorFinder.run(armor_src);
imshow("armor src", armor_src); // });
}
CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
armorFinder.run(armor_src);
});
} }
if (waitKey(1) == 'q') { if (waitKey(1) == 'q') {
flag = false; flag = false;
break; break;
} }
}); // });
} }
delete video_armor; delete video_energy;
cout << "Program fails. Restarting" << endl; cout << "Program fails. Restarting" << endl;
} }
return 0; return 0;
} }
#define RECEIVE_LOG_LEVEL LOG_NOTHING #define RECEIVE_LOG_LEVEL LOG_MSG
void uartReceive(Uart *uart) { void uartReceive(Uart* uart){
char buffer[100]; char buffer[100];
int cnt = 0; int cnt=0;
while (true) { while(true){
char data; char data;
while ((data = uart->receive()) != '\n') { while((data=uart->receive()) != '\n'){
buffer[cnt++] = data; buffer[cnt++] = data;
if (cnt >= 100) { if(cnt >= 100){
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!"); LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0; cnt = 0;
} }
} }
if (cnt == 10) { if(cnt == 10){
if (buffer[8] == 'e') { if(buffer[8] == 'e'){
state = ENERGY_STATE; state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state"); // LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') { }else if(buffer[8] == 'a'){
state = ARMOR_STATE; state = ARMOR_STATE;
LOG(RECEIVE_LOG_LEVEL, "Armor state"); // LOG(RECEIVE_LOG_LEVEL, "Armor state");
} }
memcpy(&curr_yaw, buffer, 4); memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4); memcpy(&curr_pitch, buffer+4, 4);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch); // LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if (buffer[9] == 1) { if(buffer[9] == 1){
if (mark == 0) { if(mark == 0){
mark = 1; mark = 1;
mark_yaw = curr_yaw; mark_yaw = curr_yaw;
mark_pitch = curr_pitch; mark_pitch = curr_pitch;
} }
LOG(RECEIVE_LOG_LEVEL, "Marked"); // LOG(RECEIVE_LOG_LEVEL, "Marked");
} }
} }
cnt = 0; cnt = 0;