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energy changed

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sun
2019-07-27 22:14:55 +08:00
parent 9fb5a9a9b2
commit a5259cbd1f
4 changed files with 13 additions and 6 deletions
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1
energy/include/energy/energy.h
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@@ -73,6 +73,7 @@ private:
int anticlockwise_rotation_init_cnt;//装甲板逆时针旋转次数
int last_mode;//上一帧的能量机关状态
int manual_delta_x, manual_delta_y;//手动微调量
int extra_delta_y;//在风车运动到最高点附近的额外补偿量
float target_polar_angle;//待击打装甲板的极坐标角度
float last_target_polar_angle;//上一帧待击打装甲板的极坐标角度

3
energy/src/energy/clear/energy_init.cpp
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@@ -38,6 +38,7 @@ void Energy::initEnergy() {
last_mode = -1;//既不是大符也不是小符
manual_delta_x = 0;
manual_delta_y = 0;
extra_delta_y = 0;
target_polar_angle = -1000;
last_target_polar_angle = -1000;
@@ -75,7 +76,7 @@ void Energy::initEnergy() {
// 此函数对能量机关参数进行初始化
// ---------------------------------------------------------------------------------------------------------------------
void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.GRAY_THRESH = 100;//home
gimbal_energy_part_param_.GRAY_THRESH = 90;//home
// gimbal_energy_part_param_.GRAY_THRESH = 200;//official
// gimbal_energy_part_param_.GRAY_THRESH = 225;
gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 230;

11
energy/src/energy/get/aim_point_get.cpp
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@@ -14,9 +14,14 @@ extern mcu_data mcuData;
//----------------------------------------------------------------------------------------------------------------------
// 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
// ---------------------------------------------------------------------------------------------------------------------
void Energy::getAimPoint(cv::Point target_point) {
double dx = -(target_point.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x);
double dy = -(target_point.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y);
void Energy::getAimPoint(cv::Point target_point_) {
float target_polar_angle_ = static_cast<float>(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y),
(target_point_.x - circle_center_point.x)));
if (target_polar_angle_ > 50 && target_polar_angle_ < 130)extra_delta_y = -16;
else extra_delta_y = 0;
double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x);
double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.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;

4
main.cpp
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@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal255.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal255.avi");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");