Merge remote-tracking branch 'origin/anti-top'

# Conflicts:
#	armor/src/armor_finder/send_target/send_target.cpp
#	energy/src/energy/clear/energy_init.cpp
#	energy/src/energy/find/energy_finder.cpp
#	energy/src/energy/judge/judge_contour.cpp
#	energy/src/energy/run.cpp
#	main.cpp
#	others/src/camera/camera_wrapper.cpp

others/include/camera/camera_wrapper.h

@@ -48,6 +48,7 @@ public:
     bool readRaw(cv::Mat& src);
     bool readProcessed(cv::Mat& src);
     bool changeBrightness(int brightness);
+//    bool once
 };
 
 

others/include/config/setconfig.h

@@ -30,6 +30,18 @@
 #ifndef ENERGY_CAMERA_GAIN
     #define ENERGY_CAMERA_GAIN  (20)
 #endif
+#ifndef AIM_KP
+    #define AIM_KP (6)
+#endif
+#ifndef AIM_KI
+    #define AIM_KI (0.1)
+#endif
+#ifndef COMPENSATE_YAW
+    #define COMPENSATE_YAW (5)
+#endif
+#ifndef COMPENSATE_PITCH
+    #define COMPENSATE_PITCH (74)
+#endif
 
 //#define GIMBAL_FLIP_MODE    (-1)
 //#define CHASSIS_FLIP_MODE   (-1)