energy changed

energy/include/energy/energy.h

@@ -80,6 +80,7 @@ private:
     float guess_polar_angle;//猜测的下一个目标装甲板极坐标角度
     float last_base_angle;//上一帧的各扇叶在0区（0°~72°）的基础角度
     float predict_rad;//预测提前角
+    float predict_rad_norm;//预测提前角的绝对值
     float attack_distance;//步兵与风车平面距离
     float center_delta_yaw, center_delta_pitch;//对心时相差的角度
     float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度

energy/src/energy/clear/energy_init.cpp

@@ -46,6 +46,7 @@ void Energy::initEnergy() {
     guess_polar_angle = -1000;
     last_base_angle = -1000;
     predict_rad = 25;
+    predict_rad_norm = 25;
     attack_distance = ATTACK_DISTANCE;
     center_delta_yaw = 1000;
     center_delta_pitch = 1000;

energy/src/energy/get/predict_point_get.cpp

@@ -16,11 +16,9 @@ using std::vector;
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::getPredictPoint(cv::Point target_point) {
     if (is_big) {
-        if (energy_rotation_direction == 1) rotate(target_point);
-        if (energy_rotation_direction == -1) {
-            predict_rad = -25;
-            rotate(target_point);
-        }
+        if (energy_rotation_direction == 1) predict_rad = predict_rad_norm;
+        else if (energy_rotation_direction == -1) predict_rad = -predict_rad_norm;
+        rotate(target_point);
     } else if (is_small) predict_point = target_point;
 }