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energy changed(8/7game PID test)

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sun
2019-08-07 03:38:31 +08:00
parent 0257b87720
commit f93f5911ff
9 changed files with 45 additions and 22 deletions
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12
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
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
SMALL_ENERGY_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位
1, // 是否启用数字识别
ENEMY_BLUE, // 敌方颜色
@@ -42,7 +42,7 @@ WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源
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
uint8_t last_state = INIT_STATE; // 上次状态，用于初始化y
// 自瞄主程序对象
ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/");
// 能量机关主程序对象
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/5.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/5.avi");
video_gimbal = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-small.avi");
video_chassis = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-small.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -123,8 +123,8 @@ int main(int argc, char *argv[]) {
if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src);
// energy.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src);
} else if (curr_state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));