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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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6
others/include/additions.h
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@@ -10,7 +10,7 @@
#include <serial.h>
#include <opencv2/core.hpp>
struct mcu_data {
struct McuData {
float curr_yaw;
float curr_pitch;
uint8_t state;
@@ -21,7 +21,7 @@ struct mcu_data {
int delta_y;
};
extern mcu_data mcuData;
extern McuData mcu_data;
void uartReceive(Serial *pSerial);
@@ -43,6 +43,8 @@ void extract(cv::Mat &gimbal_src);
float getTimeIntervalms(const systime &now, const systime &last);
double getPointLength(const cv::Point2f &p);
template<class type, int length>
class RoundQueue {
private:

16
others/src/additions.cpp
View File

@@ -34,12 +34,12 @@ void uartReceive(Serial *pSerial) {
LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!"));
while (true) {
memset(buffer, 0, sizeof(buffer));
pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1);
if (buffer[sizeof(mcuData)] == '\n') {
memcpy(&mcuData, buffer, sizeof(mcuData));
// LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
// LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch);
// LOGM("Get delta x: %d, delta y: %d!", mcuData.delta_x, mcuData.delta_y);
pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1);
if (buffer[sizeof(mcu_data)] == '\n') {
memcpy(&mcu_data, buffer, sizeof(mcu_data));
// LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
// LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
// LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
// static int t = time(nullptr);
// static int cnt = 0;
// if(time(nullptr) > t){
@@ -173,3 +173,7 @@ void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480
float getTimeIntervalms(const systime &now, const systime &last){
return (now.second-last.second)*1000.0 + (now.millisecond-last.millisecond);
}
double getPointLength(const cv::Point2f &p) {
return sqrt(p.x * p.x + p.y * p.y);
}