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Merge branch 'master' of https://github.com/lloi7/RM_auto-aim

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# Conflicts:
#	energy/src/energy/send/send.cpp
This commit is contained in:
sun
2019-08-04 23:38:49 +08:00
parent 6e69bb0bd2 44812dbcfe
commit 4b8228e9fd
28 changed files with 17997 additions and 17980 deletions
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8
energy/src/energy/get/aim_point_get.cpp
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@@ -9,7 +9,7 @@
using namespace std;
using namespace cv;
extern mcu_data mcuData;
extern McuData mcu_data;
//----------------------------------------------------------------------------------------------------------------------
// 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击
@@ -29,12 +29,12 @@ void Energy::getAimPoint(cv::Point target_point_) {
extra_delta_y = 0;
}
double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x - extra_delta_x);
double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y - extra_delta_y);
double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcu_data.delta_x - manual_delta_x - extra_delta_x);
double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcu_data.delta_y - manual_delta_y - extra_delta_y);
yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
// cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
// cout << "mcuData.delta_x: " << mcuData.delta_x << '\t' << "mcuData.delta_y: " << mcuData.delta_y << endl;
// cout << "mcu_data.delta_x: " << mcu_data.delta_x << '\t' << "mcu_data.delta_y: " << mcu_data.delta_y << endl;
// cout << "manual delta: " << manual_delta_x << '\t' << manual_delta_y << endl;
}

16
energy/src/energy/get/gimble_rotation_get.cpp
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@@ -15,23 +15,23 @@ using std::vector;
// 此函数用于操作手手动标定
// ---------------------------------------------------------------------------------------------------------------------
void Energy::changeMark() {
if (mcuData.mark == 0 && last_mark == 1) {//完成标定
last_mark = mcuData.mark;
origin_yaw = mcuData.curr_yaw;
origin_pitch = mcuData.curr_pitch;
if (mcu_data.mark == 0 && last_mark == 1) {//完成标定
last_mark = mcu_data.mark;
origin_yaw = mcu_data.curr_yaw;
origin_pitch = mcu_data.curr_pitch;
is_mark = false;
manual_mark = true;
// LOGM(STR_CTR(WORD_LIGHT_YELLOW, "IsMark"));
} else if (mcuData.mark == 1) {//正在标定
last_mark = mcuData.mark;
} else if (mcu_data.mark == 1) {//正在标定
last_mark = mcu_data.mark;
is_mark = true;
// LOGM(STR_CTR(WORD_BLUE,"Marking..."));
} else {//未在标定
last_mark = mcuData.mark;
last_mark = mcu_data.mark;
is_mark = false;
}
//cout<<"mark: "<<int(mcuData.mark)<<endl;
//cout<<"mark: "<<int(mcu_data.mark)<<endl;
}

4
energy/src/energy/get/origin_get.cpp
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@@ -40,8 +40,8 @@ bool Energy::getOrigin() {
if (abs(center_delta_yaw) > 0.3 || abs(center_delta_pitch) > 0.3) {
return false;
} else {
origin_yaw = mcuData.curr_yaw;
origin_pitch = mcuData.curr_pitch;
origin_yaw = mcu_data.curr_yaw;
origin_pitch = mcu_data.curr_pitch;
auto_mark = true;
LOGM(STR_CTR(WORD_BLUE_CODE, "auto mark success!"));
return true;

2
energy/src/energy/judge/judge_shoot.cpp
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@@ -14,7 +14,7 @@ using namespace cv;
// 此函数用于判断世界坐标系下是否可以发弹
// ---------------------------------------------------------------------------------------------------------------------
void Energy::judgeShootInWorld() {
if (abs(yaw_rotation - mcuData.curr_yaw) < 0.5 && abs(pitch_rotation - mcuData.curr_pitch) < 0.5) {
if (abs(yaw_rotation - mcu_data.curr_yaw) < 0.5 && abs(pitch_rotation - mcu_data.curr_pitch) < 0.5) {
shoot = 4;
// is_predicting = false;
// is_guessing = true;

4
energy/src/energy/mark/mark.cpp
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@@ -15,8 +15,8 @@ void Energy::writeDownSlightChange(cv::Mat &src) {
if (fans_cnt >= 4) {
FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w");
if (fp_delta) {
fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x + manual_delta_x,
mcuData.delta_y + manual_delta_y);
fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x,
mcu_data.delta_y + manual_delta_y);
fclose(fp_delta);
}
}