VSAG/amadeus_26_fb
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新版反陀螺。

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This commit is contained in:
xinyang
2019-08-03 19:00:46 +08:00
parent cdd6716214
commit ef32b54761
18 changed files with 148 additions and 73 deletions
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16
main.cpp
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@@ -27,7 +27,7 @@
using namespace cv;
using namespace std;
mcu_data mcuData = { // 单片机端回传结构体
McuData mcu_data = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
ARMOR_STATE, // 当前状态，自瞄-大符-小符
@@ -44,9 +44,9 @@ WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
Serial serial(115200); // 串口对象
uint8_t last_state = INIT_STATE; // 上次状态，用于初始化
// 自瞄主程序对象
ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
ArmorFinder armorFinder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier);
// 能量机关主程序对象
Energy energy(serial, mcuData.enemy_color);
Energy energy(serial, mcu_data.enemy_color);
int box_distance = 0;
@@ -94,7 +94,7 @@ int main(int argc, char *argv[]) {
cout << "start running" << endl;
do {
CNT_TIME("Total", {
if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式
if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows();
@@ -110,7 +110,7 @@ int main(int argc, char *argv[]) {
checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
last_state = mcuData.state;//更新上一帧状态
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
@@ -124,7 +124,7 @@ int main(int argc, char *argv[]) {
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src);
} else if (mcuData.state == SMALL_ENERGY_STATE) {
} else if (mcu_data.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows();
@@ -139,7 +139,7 @@ int main(int argc, char *argv[]) {
}
energy.setSmallEnergyInit();
}
last_state = mcuData.state;//更新上一帧状态
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -162,7 +162,7 @@ int main(int argc, char *argv[]) {
}
}
}
last_state = mcuData.state;
last_state = mcu_data.state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
});