From 851c716153c3c873c81f12fa7ea9c490e674237f Mon Sep 17 00:00:00 2001
From: sun <SJT_sjtu1998@163.con>
Date: Sun, 4 Aug 2019 01:24:39 +0800
Subject: [PATCH] energy changed

---
 energy/include/energy/energy.h              | 1 +
 energy/src/energy/clear/energy_init.cpp     | 1 +
 energy/src/energy/get/predict_point_get.cpp | 8 +++-----
 main.cpp                                    | 4 ++--
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h
index 45d26b8..ecc2400 100644
--- a/energy/include/energy/energy.h
+++ b/energy/include/energy/energy.h
@@ -80,6 +80,7 @@ private:
     float guess_polar_angle;//猜测的下一个目标装甲板极坐标角度
     float last_base_angle;//上一帧的各扇叶在0区（0°~72°）的基础角度
     float predict_rad;//预测提前角
+    float predict_rad_norm;//预测提前角的绝对值
     float attack_distance;//步兵与风车平面距离
     float center_delta_yaw, center_delta_pitch;//对心时相差的角度
     float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度
diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp
index 16e0b22..aaa6327 100644
--- a/energy/src/energy/clear/energy_init.cpp
+++ b/energy/src/energy/clear/energy_init.cpp
@@ -46,6 +46,7 @@ void Energy::initEnergy() {
     guess_polar_angle = -1000;
     last_base_angle = -1000;
     predict_rad = 25;
+    predict_rad_norm = 25;
     attack_distance = ATTACK_DISTANCE;
     center_delta_yaw = 1000;
     center_delta_pitch = 1000;
diff --git a/energy/src/energy/get/predict_point_get.cpp b/energy/src/energy/get/predict_point_get.cpp
index 7024b29..4550b29 100644
--- a/energy/src/energy/get/predict_point_get.cpp
+++ b/energy/src/energy/get/predict_point_get.cpp
@@ -16,11 +16,9 @@ using std::vector;
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::getPredictPoint(cv::Point target_point) {
     if (is_big) {
-        if (energy_rotation_direction == 1) rotate(target_point);
-        if (energy_rotation_direction == -1) {
-            predict_rad = -25;
-            rotate(target_point);
-        }
+        if (energy_rotation_direction == 1) predict_rad = predict_rad_norm;
+        else if (energy_rotation_direction == -1) predict_rad = -predict_rad_norm;
+        rotate(target_point);
     } else if (is_small) predict_point = target_point;
 }
 
diff --git a/main.cpp b/main.cpp
index 184769f..49b87b4 100644
--- a/main.cpp
+++ b/main.cpp
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/5.avi");
-            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/5.avi");
+            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi");
+            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");