energy changed

energy/include/energy/energy.h

@@ -66,6 +66,7 @@ private:
 
     int send_cnt;//向主控板发送的数据总次数
     int camera_cnt;//摄像头数量
+    int fans_cnt;//扇叶个数
     int last_fans_cnt;//上一帧的扇叶个数
     int guess_devide;//刚进入猜测状态时，猜测目标点在极坐标中的分区
     int energy_rotation_direction;//风车旋转方向

energy/src/energy/clear/energy_init.cpp

@@ -30,6 +30,7 @@ void Energy::initEnergy() {
 
     send_cnt = 0;
     camera_cnt = 1;
+    fans_cnt = 0;
     last_fans_cnt = 0;
     guess_devide = 0;
     energy_rotation_direction = ANTICLOCKWISE;
@@ -86,15 +87,15 @@ void Energy::initEnergyPartParam() {
     gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
     gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;
 
-    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 6600;
+    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 3000;
-    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 0;
+    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 500;
-    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 80;
+    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 55;
-    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100;
+    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 95;
     gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 20;
     gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 52;
-    gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
+    gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 3.5;
-    gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;
+    gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1.2;
-    gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.65;
+    gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.6;
     gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MAX = 0.8;
     gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MIN = 0.48;
 //    gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MAX = 0.3;

energy/src/energy/find/energy_finder.cpp

@@ -39,14 +39,13 @@ int Energy::findFans(const cv::Mat src) {
 //        float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
 //        float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
 //        double cur_contour_area = contourArea(fan_contour);
-//        double non_zero_rate = nonZeroRateOfRotateRect(src_bin, cur_rect);
+//        float length_width_ratio = length / width;
-//        if (length > 60 && width > 20) {
+//        cout << "area: " << cur_contour_area << '\t' << endl;
-//            fans.emplace_back(cv::minAreaRect(fan_contour));
+//        cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
-//            cout << cur_rect.center << endl;
+//        cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
-//            cout << "fan area: " << length << '\t' << width << endl;
+//        cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
-//            cout << "non zero: " << nonZeroRateOfRotateRect(src_bin, cur_rect) << endl;
+//        cout<<endl;
-//            cout << "rate: " << cur_contour_area / cur_size.area() << endl;
+
-//        }
     }
 //    showFans("fan", src_bin);
     if (fans.size() < last_fans_cnt) {

energy/src/energy/mark/mark.cpp

@@ -12,7 +12,7 @@ using namespace cv;
 // 此函数用于记录操作手的微调dx和dy
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::writeDownSlightChange(cv::Mat &src) {
-    if (findFans(src) >= 4) {
+    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,

energy/src/energy/run.cpp

@@ -89,6 +89,8 @@ void Energy::runBig(cv::Mat &gimbal_src) {
     if (show_energy)showFlowStrip("strip", gimbal_src);
     if (!findCenterR(gimbal_src))return;
     if (show_energy)showCenterR("R", gimbal_src);
+    fans_cnt = findFans(gimbal_src);
+    if (show_energy)showFans("fans", gimbal_src);
 
 //    getCenter();
 //    sendEnergy();
@@ -127,7 +129,9 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
         if (!findTargetInFlowStripFan()) return;
         if (!findFlowStrip(gimbal_src))return;
     }
-    if(show_energy)showTarget("target", gimbal_src);
+    if (show_energy)showTarget("target", gimbal_src);
+    fans_cnt = findFans(gimbal_src);
+    if (show_energy)showFans("fans", gimbal_src);
 
 //    getCenter();
 //    sendEnergy();

energy/src/energy/send/send.cpp

@@ -38,11 +38,14 @@ void Energy::sendEnergy() {
         pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
     }
 
+
     if (change_target) {
         sendTarget(serial, yaw_rotation, pitch_rotation, 5, 0);
     } else if (is_guessing) {
         sendTarget(serial, yaw_rotation, pitch_rotation, 6, 0);
-    } else {
+    } /*else if (fans_cnt >= 4) {
+        sendTarget(serial, yaw_rotation, pitch_rotation, 7, 0);
+    }*/ else {
         sendTarget(serial, yaw_rotation, pitch_rotation, shoot, 0);
     }
 

main.cpp

@@ -30,7 +30,7 @@ using namespace std;
 mcu_data mcuData = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        SMALL_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        BIG_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_RED,      // 敌方颜色
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi");
+            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/79.avi");
-            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/18.avi");
+            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/79.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");

others/include/config/setconfig.h

@@ -44,19 +44,19 @@
     #define SMALL_PITCH_AIM_KP (2.4)
 #endif
 #ifndef BIG_YAW_AIM_KD
-    #define BIG_YAW_AIM_KD (0.7)
+    #define BIG_YAW_AIM_KD (1)
 #endif
 #ifndef BIG_YAW_AIM_KP
-    #define BIG_YAW_AIM_KP (4.5)
+    #define BIG_YAW_AIM_KP (5.5)
 #endif
 #ifndef BIG_YAW_AIM_KI
     #define BIG_YAW_AIM_KI (0.1)
 #endif
 #ifndef BIG_PITCH_AIM_KD
-    #define BIG_PITCH_AIM_KD (0.7)
+    #define BIG_PITCH_AIM_KD (1)
 #endif
 #ifndef BIG_PITCH_AIM_KP
-    #define BIG_PITCH_AIM_KP (4.5)
+    #define BIG_PITCH_AIM_KP (5.5)
 #endif
 #ifndef BIG_PITCH_AIM_KI
     #define BIG_PITCH_AIM_KI (0.1)