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energy changed

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sun
2019-08-06 00:40:20 +08:00
parent 00fe7bbab9
commit 72d6a15d44
1 changed files with 12 additions and 7 deletions
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19
energy/src/energy/send/send.cpp
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@@ -18,24 +18,29 @@ void Energy::sendEnergy() {
if (camera_cnt == 1) {
sum_yaw += yaw_rotation;
sum_pitch += pitch_rotation;
if(ROBOT_ID == 3 || ROBOT_ID == 4 || ROBOT_ID == 8){
if (ROBOT_ID == 3 || ROBOT_ID == 4 || ROBOT_ID == 8) {
MINMAX(sum_yaw, -100, 100);
MINMAX(sum_yaw, -100, 100);
} else if(ROBOT_ID ==7){
} else if (ROBOT_ID == 7) {
float yaw_I_component = BIG_YAW_AIM_KI * sum_yaw;
float pitch_I_component = BIG_PITCH_AIM_KI * sum_pitch;
MINMAX(yaw_I_component, -3, 3);
MINMAX(pitch_I_component, -3, 3);
// MINMAX(yaw_I_component, -2, 2);
// MINMAX(pitch_I_component, -2, 2);
}
double tmp_yaw = yaw_rotation;
double tmp_pitch = pitch_rotation;
yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw +
BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
// cout << BIG_YAW_AIM_KP * yaw_rotation << '\t' << BIG_YAW_AIM_KI * sum_yaw << '\t'
// << BIG_YAW_AIM_KD * (yaw_rotation - last_yaw) << endl;
last_yaw = tmp_yaw;
last_pitch = tmp_pitch;
if(ROBOT_ID == 7){
if (ROBOT_ID == 7) {
MINMAX(yaw_rotation, -6, 6);
MINMAX(pitch_rotation, -6, 6);
}
@@ -49,12 +54,12 @@ void Energy::sendEnergy() {
// last_yaw = tmp_yaw;
// last_pitch = tmp_pitch;
}
} else if (is_small){
} else if (is_small) {
double tmp_yaw = yaw_rotation;
double tmp_pitch = pitch_rotation;
yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
if(ROBOT_ID == 7){
if (ROBOT_ID == 7) {
MINMAX(yaw_rotation, -6, 6);
MINMAX(pitch_rotation, -6, 6);
}