Change the parameters for judgements

armor/src/show_images/show_images.cpp

@@ -99,9 +99,9 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &
         rectangle(image2show, box.rect, Scalar(0, 255, 0), 3);
     }else{
         rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
-    };
+    }
 
-    char dist[5];
+    char dist[10];
     sprintf(dist, "%.1f", box.getBoxDistance());
     if (box.id == -1)
         putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,

energy/include/energy/energy.h

@@ -37,7 +37,7 @@ public:
     void setSmallEnergyInit();//设置小能量机关初始化
     void sendEnergy();//发送能量机关数据
     void sendTarget(Serial& serial, float x, float y, float z);//发送数据
-    void sendTarget(Serial& serial, float x, float y, uint16_t z, uint16_t u);//发送数据
+    void sendTarget(Serial& serial, float x, float y, float z, uint16_t u);//发送数据
 
 
 private:

energy/src/energy/send/send.cpp

@@ -77,7 +77,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z) {
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数用于发送数据给主控板
 // ---------------------------------------------------------------------------------------------------------------------
-void Energy::sendTarget(Serial &serial, float x, float y, uint16_t z, uint16_t u) {
+void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) {
     short x_tmp, y_tmp, z_tmp;
     uint8_t buff[10];
 
@@ -95,15 +95,16 @@ void Energy::sendTarget(Serial &serial, float x, float y, uint16_t z, uint16_t u
 
     x_tmp = static_cast<short>(x * (32768 - 1) / 100);
     y_tmp = static_cast<short>(y * (32768 - 1) / 100);
+    z_tmp = static_cast<short>(z * (32768 - 1) / 100);
     buff[0] = 's';
     buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
     buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
     buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
     buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
-    buff[5] = static_cast<char>((z >> 8) & 0xFF);
-    buff[6] = static_cast<char>((z >> 0) & 0xFF);
+    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
+    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
     buff[7] = static_cast<char>((u >> 8) & 0xFF);
-    buff[8] = static_cast<char>((u >> 0) & 0xFF);;
+    buff[8] = static_cast<char>((u >> 0) & 0xFF);
     buff[9] = 'e';
     serial.WriteData(buff, sizeof(buff));
     send_cnt += 1;

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
-        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        ARMOR_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

others/src/additions/additions.cpp

@@ -30,7 +30,7 @@ extern ArmorFinder armorFinder;
 extern Energy energy;
 
 void uartReceive(Serial *pSerial) {
-    char buffer[30];
+    char buffer[40];
     LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!"));
     while (true) {
         memset(buffer, 0, sizeof(buffer));