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energy changed a lot

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sun
2019-08-13 22:36:26 +08:00
parent 05527de9e2
commit 9d94de939b
32 changed files with 282 additions and 1363 deletions
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12
others/include/additions.h
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@@ -29,17 +29,11 @@ bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect);
bool checkReconnect(bool is_camera_connect);
void saveVideos(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
void saveVideos(const cv::Mat &src);
void saveVideos(const cv::Mat &gimbal_src);
void showOrigin(const cv::Mat &src);
void showOrigin(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
void showOrigin(const cv::Mat &gimbal_src);
void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src);
void extract(cv::Mat &gimbal_src);
void extract(cv::Mat &src);
double getTimeIntervalms(const systime &now, const systime &last);

65
others/include/config/setconfig.h
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@@ -30,52 +30,45 @@
#ifndef ARMOR_CAMERA_GAIN
#define ARMOR_CAMERA_GAIN (30)
#define ARMOR_CAMERA_GAIN (64)
#endif
#ifndef ENERGY_CAMERA_GAIN
#define ENERGY_CAMERA_GAIN (20)
#define ENERGY_CAMERA_GAIN (30)
#endif
#ifndef ROBOT_ID
#define ROBOT_ID (0)
#ifndef YAW_AIM_KD
#define YAW_AIM_KD (0.4)
#endif
#ifndef YAW_AIM_KP
#define YAW_AIM_KP (0.75)
#endif
#ifndef YAW_AIM_KI
#define YAW_AIM_KI (0.01)
#endif
#ifndef PITCH_AIM_KD
#define PITCH_AIM_KD (0.4)
#endif
#ifndef PITCH_AIM_KP
#define PITCH_AIM_KP (0.75)
#endif
#ifndef PITCH_AIM_KI
#define PITCH_AIM_KI (0.01)
#endif
#ifndef SMALL_YAW_AIM_KD
#define SMALL_YAW_AIM_KD (0.35)
#ifndef RED_COMPENSATE_YAW
#define RED_COMPENSATE_YAW (5)
#endif
#ifndef SMALL_YAW_AIM_KP
#define SMALL_YAW_AIM_KP (0.85)
#ifndef RED_COMPENSATE_PITCH
#define RED_COMPENSATE_PITCH (74)
#endif
#ifndef SMALL_PITCH_AIM_KD
#define SMALL_PITCH_AIM_KD (0.35)
#ifndef BLUE_COMPENSATE_YAW
#define BLUE_COMPENSATE_YAW (5)
#endif
#ifndef SMALL_PITCH_AIM_KP
#define SMALL_PITCH_AIM_KP (0.85)
#endif
#ifndef BIG_YAW_AIM_KD
#define BIG_YAW_AIM_KD (0.35)
#endif
#ifndef BIG_YAW_AIM_KP
#define BIG_YAW_AIM_KP (0.85)
#endif
#ifndef BIG_YAW_AIM_KI
#define BIG_YAW_AIM_KI (0)
#endif
#ifndef BIG_PITCH_AIM_KD
#define BIG_PITCH_AIM_KD (0.35)
#endif
#ifndef BIG_PITCH_AIM_KP
#define BIG_PITCH_AIM_KP (0.85)
#endif
#ifndef BIG_PITCH_AIM_KI
#define BIG_PITCH_AIM_KI (0)
#endif
#ifndef COMPENSATE_YAW
#define COMPENSATE_YAW (5)
#endif
#ifndef COMPENSATE_PITCH
#define COMPENSATE_PITCH (74)
#ifndef BLUE_COMPENSATE_PITCH
#define BLUE_COMPENSATE_PITCH (74)
#endif
#ifndef EXTRA_DELTA_X
#define EXTRA_DELTA_X (0)
#endif

1
others/include/constants.h
View File

@@ -16,7 +16,6 @@
#define BIG_ENERGY_STATE 'b'
#define SMALL_ENERGY_STATE 's'
#define ARMOR_STATE 'a'
#define INIT_STATE 0
#define FOCUS_PIXAL_8MM (1488)
#define FOCUS_PIXAL_5MM (917)