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energy changed

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sun
2019-08-05 17:27:49 +08:00
parent 7337f10123
commit e1fc19fdbf
4 changed files with 77 additions and 73 deletions
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3
energy/src/energy/clear/energy_init.cpp
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@@ -82,7 +82,8 @@ void Energy::initEnergy() {
void Energy::initEnergyPartParam() { void Energy::initEnergyPartParam() {
// gimbal_energy_part_param_.GRAY_THRESH = 120;//home // gimbal_energy_part_param_.GRAY_THRESH = 120;//home
// gimbal_energy_part_param_.GRAY_THRESH = 200;//official // gimbal_energy_part_param_.GRAY_THRESH = 200;//official
gimbal_energy_part_param_.GRAY_THRESH = 180;//game // gimbal_energy_part_param_.GRAY_THRESH =180;//single game
gimbal_energy_part_param_.GRAY_THRESH =100;//game
gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180; gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180;
gimbal_energy_part_param_.FAN_GRAY_THRESH = 75; gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80; gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;

2
energy/src/energy/run.cpp
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@@ -107,6 +107,8 @@ void Energy::runBig(cv::Mat &gimbal_src) {
getPredictPoint(target_point); getPredictPoint(target_point);
getAimPoint(predict_point); getAimPoint(predict_point);
judgeShootInGimbal(); judgeShootInGimbal();
// cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << '\t' << "shoot: " << shoot << endl;
// waitKey(0);
sendEnergy(); sendEnergy();
} }

1
energy/src/energy/send/send.cpp
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@@ -25,6 +25,7 @@ void Energy::sendEnergy() {
yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw); yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch + pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch); BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
MINMAX(yaw_rotation, -10, 10);
last_yaw = tmp_yaw; last_yaw = tmp_yaw;
last_pitch = tmp_pitch; last_pitch = tmp_pitch;
} else if (is_chassis) { } else if (is_chassis) {

144
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
McuData mcu_data = { // 单片机端回传结构体 McuData mcu_data = { // 单片机端回传结构体
0, // 当前云台yaw角 0, // 当前云台yaw角
0, // 当前云台pitch角 0, // 当前云台pitch角
ARMOR_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 0, // 云台角度标记位
1, // 是否启用数字识别 1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色 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_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/); video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else { } else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi"); video_gimbal = new VideoWrapper("/home/sun/桌面/shiying/blue_1.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi"); video_chassis = new VideoWrapper("/home/sun/桌面/shiying/blue_1.avi");
} }
if (video_gimbal->init()) { if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully."); LOGM("video_gimbal source initialization successfully.");
@@ -94,90 +94,90 @@ int main(int argc, char *argv[]) {
cout << "start running" << endl; cout << "start running" << endl;
do { do {
CNT_TIME("Total", { CNT_TIME("Total", {
if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式 if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!")); LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows(); destroyAllWindows();
if (from_camera) { if (from_camera) {
delete video_gimbal; delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/); video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) { if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully."); LOGM("video_gimbal source initialization successfully.");
} else { } else {
LOGW("video_gimbal source unavailable!"); LOGW("video_gimbal source unavailable!");
}
} }
checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
} }
checkReconnect(video_chassis->read(chassis_src)); last_state = mcu_data.state;//更新上一帧状态
energy.setBigEnergyInit(); ok = checkReconnect(video_gimbal->read(gimbal_src));
} video_chassis->read(chassis_src);
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE #ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif #endif
#ifdef CHASSIS_FLIP_MODE #ifdef CHASSIS_FLIP_MODE
flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE); flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
#endif #endif
if (!from_camera) extract(gimbal_src, chassis_src); if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src); // energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src); energy.runBig(gimbal_src);
} else if (mcu_data.state == SMALL_ENERGY_STATE) { } else if (mcu_data.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) { if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!")); LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows(); destroyAllWindows();
if (from_camera) { if (from_camera) {
delete video_gimbal; delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/); video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) { if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully."); LOGM("video_gimbal source initialization successfully.");
} else { } else {
LOGW("video_gimbal source unavailable!"); LOGW("video_gimbal source unavailable!");
}
}
energy.setSmallEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
energy.runSmall(gimbal_src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
} }
} }
energy.setSmallEnergyInit(); last_state = mcu_data.state;
} CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
last_state = mcu_data.state;//更新上一帧状态 if (!checkReconnect(video_gimbal->read(gimbal_src))) continue;
ok = checkReconnect(video_gimbal->read(gimbal_src)); });
#ifdef GIMBAL_FLIP_MODE #ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
energy.runSmall(gimbal_src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
last_state = mcu_data.state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif #endif
// CNT_TIME("something whatever", { // CNT_TIME("something whatever", {
if (!from_camera) extract(gimbal_src); if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src); if (save_video) saveVideos(gimbal_src);
if (show_origin) showOrigin(gimbal_src); if (show_origin) showOrigin(gimbal_src);
// }); // });
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), { CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(gimbal_src); armor_finder.run(gimbal_src);
}); });
} }
// cv::waitKey(0); // cv::waitKey(0);
}); });
} while (ok); } while (ok);