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energy changed

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sun
2019-08-05 17:29:31 +08:00
parent e1fc19fdbf
commit b27bb48ca5
2 changed files with 11 additions and 13 deletions
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2
energy/src/energy/run.cpp
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@@ -107,8 +107,6 @@ void Energy::runBig(cv::Mat &gimbal_src) {
getPredictPoint(target_point); getPredictPoint(target_point);
getAimPoint(predict_point); getAimPoint(predict_point);
judgeShootInGimbal(); judgeShootInGimbal();
// cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << '\t' << "shoot: " << shoot << endl;
// waitKey(0);
sendEnergy(); sendEnergy();
} }

22
others/include/config/setconfig.h
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@@ -32,34 +32,34 @@
#define ENERGY_CAMERA_GAIN (20) #define ENERGY_CAMERA_GAIN (20)
#endif #endif
#ifndef SMALL_YAW_AIM_KD #ifndef SMALL_YAW_AIM_KD
#define SMALL_YAW_AIM_KD (0) #define SMALL_YAW_AIM_KD (0.35)
#endif #endif
#ifndef SMALL_YAW_AIM_KP #ifndef SMALL_YAW_AIM_KP
#define SMALL_YAW_AIM_KP (4) #define SMALL_YAW_AIM_KP (0.85)
#endif #endif
#ifndef SMALL_PITCH_AIM_KD #ifndef SMALL_PITCH_AIM_KD
#define SMALL_PITCH_AIM_KD (0) #define SMALL_PITCH_AIM_KD (0.35)
#endif #endif
#ifndef SMALL_PITCH_AIM_KP #ifndef SMALL_PITCH_AIM_KP
#define SMALL_PITCH_AIM_KP (3.7) #define SMALL_PITCH_AIM_KP (0.85)
#endif #endif
#ifndef BIG_YAW_AIM_KD #ifndef BIG_YAW_AIM_KD
#define BIG_YAW_AIM_KD (0) #define BIG_YAW_AIM_KD (0.35)
#endif #endif
#ifndef BIG_YAW_AIM_KP #ifndef BIG_YAW_AIM_KP
#define BIG_YAW_AIM_KP (6.5) #define BIG_YAW_AIM_KP (0.85)
#endif #endif
#ifndef BIG_YAW_AIM_KI #ifndef BIG_YAW_AIM_KI
#define BIG_YAW_AIM_KI (0.1) #define BIG_YAW_AIM_KI (0)
#endif #endif
#ifndef BIG_PITCH_AIM_KD #ifndef BIG_PITCH_AIM_KD
#define BIG_PITCH_AIM_KD (0) #define BIG_PITCH_AIM_KD (0.35)
#endif #endif
#ifndef BIG_PITCH_AIM_KP #ifndef BIG_PITCH_AIM_KP
#define BIG_PITCH_AIM_KP (6.5) #define BIG_PITCH_AIM_KP (0.85)
#endif #endif
#ifndef BIG_PITCH_AIM_KI #ifndef BIG_PITCH_AIM_KI
#define BIG_PITCH_AIM_KI (0.1) #define BIG_PITCH_AIM_KI (0)
#endif #endif
#ifndef COMPENSATE_YAW #ifndef COMPENSATE_YAW
#define COMPENSATE_YAW (5) #define COMPENSATE_YAW (5)
@@ -68,7 +68,7 @@
#define COMPENSATE_PITCH (74) #define COMPENSATE_PITCH (74)
#endif #endif
#ifndef EXTRA_DELTA_X #ifndef EXTRA_DELTA_X
#define EXTRA_DELTA_X (10) #define EXTRA_DELTA_X (0)
#endif #endif
#ifndef EXTRA_DELTA_Y #ifndef EXTRA_DELTA_Y
#define EXTRA_DELTA_Y (10) #define EXTRA_DELTA_Y (10)