From cec8fe4dad145734d6d79c789950a86c88b8788a Mon Sep 17 00:00:00 2001
From: wanpiqiu123 <46051943+wanpiqiu123@users.noreply.github.com>
Date: Sat, 6 Jul 2019 17:04:39 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E9=98=88=E5=80=BC+=E6=9F=A5=E7=9C=8B?=
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---
 energy/src/energy/param_init.cpp |  2 +-
 energy/src/energy/run.cpp        | 11 ++++++-----
 main.cpp                         |  6 +++---
 3 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp
index a25219e..ce5d38b 100644
--- a/energy/src/energy/param_init.cpp
+++ b/energy/src/energy/param_init.cpp
@@ -66,7 +66,7 @@ void Energy::initEnergy() {
 // 此函数对能量机关参数进行初始化
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::initEnergyPartParam() {
-	energy_part_param_.GRAY_THRESH = 240;
+	energy_part_param_.GRAY_THRESH = 235;
 	energy_part_param_.SPLIT_GRAY_THRESH = 60;
 	energy_part_param_.FAN_GRAY_THRESH = 75;
 	energy_part_param_.ARMOR_GRAY_THRESH = 80;
diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index 901bd20..d6512b2 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -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;
diff --git a/main.cpp b/main.cpp
index 7bd5237..e2a5928 100644
--- a/main.cpp
+++ b/main.cpp
@@ -26,7 +26,7 @@ using namespace std;
 mcu_data mcuData = {
         0,
         0,
-        SMALL_ENERGY_STATE,
+        BIG_ENERGY_STATE,
         0,
         1,
         ENEMY_RED,
@@ -56,8 +56,8 @@ int main(int argc, char *argv[]) {
             video_gimble = new CameraWrapper(0/*, "armor"*/);
             video_chassis = new CameraWrapper(1/*, "energy"*/);
         } else {
-            video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
-            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
+            video_gimble = new VideoWrapper("/Users/leo/Desktop/videos/179.avi");
+            video_chassis = new VideoWrapper("/Users/leo/Desktop/videos/179.avi");
         }
         if (video_gimble->init()) {
             LOGM("video_gimble source initialization successfully.");