VSAG/vision_sjtu_19
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Auto Aim

Browse Source
This commit is contained in:
JiatongSun
2019-04-21 17:48:28 +08:00
parent 0d48e57bf9
commit a6233a50be
6 changed files with 43 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
main.cpp
View File

@@ -23,7 +23,7 @@ using namespace std;
#define ENERGY_STATE 1
#define ARMOR_STATE 0
int state = ARMOR_STATE;
int state = ENERGY_STATE;
float curr_yaw=0, curr_pitch=0;
float mark_yaw=0, mark_pitch=0;
int mark = 0;
@@ -99,24 +99,28 @@ void uartReceive(Uart* uart){
while((data=uart->receive()) != '\n'){
buffer[cnt++] = data;
if(cnt >= 100){
LOGE("data receive over flow!");
// LOGE("data receive over flow!");
}
}
if(cnt == 10){
if(buffer[8] == 'e'){
state = ENERGY_STATE;
LOGM("Energy state");
// LOGM("Energy state");
}else if(buffer[8] == 'a'){
state = ARMOR_STATE;
LOGM("Armor state");
// LOGM("Armor state");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer+4, 4);
LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
// LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if(buffer[9] == 1){
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
LOGM("Marked");
if(mark == 0){
mark = 1;
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
// LOGM("Marked");
}
}
cnt = 0;