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Merge remote-tracking branch 'origin/master'

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sun
2019-07-06 20:16:50 +08:00
parent 07af506821 cec8fe4dad
commit adc11e6d18
2 changed files with 9 additions and 8 deletions
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11
energy/src/energy/run.cpp
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@@ -40,18 +40,19 @@ int Energy::runBig(cv::Mat &gimble_src, cv::Mat &chassis_src){
return 0;
}
if(++gimble_cnt==10){
if(++gimble_cnt%8==0){
former_point=circle_center_point;
gimble_cnt=0;
//gimble_cnt=0;
}
if(former_point==predict_point&&gimble_cnt==9&&predict_point!=Point(0,0)) {
if(former_point==predict_point&&gimble_cnt%8==7&&predict_point!=Point(0,0)) {
centered=true;
cout<<"gimble focused!"<<endl;
cout<<"number of framse: "<<gimble_cnt<<endl;
}
predict_point=circle_center_point;
cout<<gimble_cnt<<endl;
cout<<"center:("<<predict_point.x<<','<<predict_point.y<<")\n";
// cout<<gimble_cnt<<endl;
// cout<<"center:("<<predict_point.x<<','<<predict_point.y<<")\n";
gimbleRotation();
// cout<<"send"<<endl;