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zHHS<7B3kd7zG~?MzhP&t%F4>}N_y}7O!~%r7ww(@0d0|1H5ZnS7U(u9DXx #include -//#define CONFIG -#define SFML +#define CONFIG +//#define SFML #define KIRBY //#define ETOILE @@ -19,9 +19,9 @@ //ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML /*Headers*/ -void maj_angle(int vecX, int vecY, int rayon, int* angle); //Met à jour l'angle selon la distance CentreCamera - Cible -int ajust_pos(int pos, int ref) -void controle_moteur(int* angle);//Envoie les angles au moteur +void maj_angle(int vecX, int vecY, int rayon, double* angle); //Met à jour l'angle selon la distance CentreCamera - Cible +int ajust_pos(int pos, int ref); +void controle_moteur(double* angle);//Envoie les angles au moteur int limite_moteur(int val_pwm);//Verifie que les valeurs envoyees aux moteurs sont correctes void config(int* LowH, int* HighH, int* LowS, int* HighS, int* LowV, int* HighV); //Affiche le panneau de configuration de tracking avec les arguments comme valeur de base @@ -41,7 +41,7 @@ int main(int argc, char* argv[]) int posX, posY; //Position objet int boucle; - int angle[2] = {100,100}; + double angle[2] = {100,100}; int vecX, vecY; @@ -89,7 +89,7 @@ int main(int argc, char* argv[]) //Controle couleur #ifdef KIRBY //Setup Kirby - int iLowH = 139; + int iLowH = 152; int iHighH = 179; int iLowS = 48; @@ -117,7 +117,6 @@ int main(int argc, char* argv[]) boucle = 1; #endif -<<<<<<< HEAD while(boucle) { @@ -185,9 +184,9 @@ int main(int argc, char* argv[]) //Mouvements moteurs printf("-PREMAJ_ANGLE...: %d %d\n",width,height); - maj_angle(ajust_pos(posX-width/2,width), ajust_pos(posY-height/2,height), height/10, angle); + maj_angle(ajust_pos(posX-width/2,width), ajust_pos(posY-height/2,height), height/8, angle); controle_moteur(angle); - cvWaitKey(50); + cvWaitKey(100); #ifdef CONFIG affichage_config(frame, hsv_frame, threshold); //Affichage du flux vidéo et de ses traitements @@ -210,17 +209,18 @@ int main(int argc, char* argv[]) } -void maj_angle(int vecX, int vecY, int rayon, int* angle){ +void maj_angle(int vecX, int vecY, int rayon, double* angle){ //On ajustera coeff fonction du rayon. Si la cible est à une distance 5*r, il sera 5x plus rapide que s'il était à 1*r - int coeffx, coeffy, l0, l1; + double coeffx, coeffy; + int l0, l1; - printf("-MAJ_ANGLE...Valeur maj_angle arguments : %d %d %d\n\tAnciens angles : %d %d\n\t",vecX,vecY,rayon,angle[0],angle[1]); + printf("-MAJ_ANGLE...Valeur maj_angle arguments : %d %d %d\n\tAnciens angles : %d %d\n\t",vecX,vecY,rayon,(int)angle[0],(int)angle[1]); //Ajout d'un angle moteur pondéré par la distance - coeffx = vecX/rayon; - coeffy = vecY/rayon; + coeffx = 0.4*vecX/rayon; + coeffy = 0.4*vecY/rayon; angle[0] += coeffx; angle[1] += coeffy; @@ -230,7 +230,7 @@ void maj_angle(int vecX, int vecY, int rayon, int* angle){ if (l0 != 0) angle[0] = l0; if (l1 != 0) angle[1] = l1; - printf("Nouveaux angles : %d %d\n",angle[0],angle[1]); + printf("Nouveaux angles : %lf %lf %d %d\n",angle[0],angle[1],(int)angle[0],(int)angle[0]); } int ajust_pos(int pos, int ref){ @@ -251,7 +251,7 @@ int limite_moteur(int val_pwm){ } } -void controle_moteur(int* angle){ +void controle_moteur(double* angle){ //Ouverture port serie FILE* fichier = NULL; @@ -263,26 +263,14 @@ void controle_moteur(int* angle){ } //Ecriture angles - fprintf(fichier,"%d\n",angle[0]); - fprintf(fichier,"%d\n",angle[1]); + fprintf(fichier,"%d\n",(int)angle[0]); + fprintf(fichier,"%d\n",(int)angle[1]); //Fermeture fclose(fichier); return; } -/*Verifie que les valeurs envoyees aux moteurs sont correctes*/ -int limite_moteur(int val_pwm){ - int MAX_PWM = 255; - if (val_pwm > MAX_PWM || val_pwm < 0){ - return 0; - } - else{ - return 1; - } -} - - int image_CV2SFML(IplImage* imcv, sf::Image imFlux){ int R, G, B; diff --git a/Code/KirbyTrack.o b/Code/KirbyTrack.o index 62eb08a5d6db47cf167bc5641fc430ea159bafc7..140b8018a1ac4a08fe3e998021bf99572c1eecdb 100644 GIT binary patch literal 12160 zcmb_h4RBP~b-vPKgMaV}|0L9I%+`?|ps<#(z~U#i7U`KMvny1I1&o82Wwk;}SG&q; zR|eNgpt4#&KPzZ5kRc6ql!=-lwlmdCZ4WR5tbii9?WF6NaplCxXi_>6L7h>kXV}az zrQf;l-rcLmzG^z@g}3kC?|k>%bI$#JSKrk9&y|;zF`3HPGptyWC}Tqp6!UdFTgM(^ z_jB$7l&Q{L;(a&XLEZQd-_}W#+g@d-MXb4?|0GbBoL$*>U2Y!oK>1SM}jH( zfh?<=c>1%M2aE7IYRDpx&=`~CagfK&x)p{tWaX9`+OU<|ZD=RV;E<^e8=n*_j6gVY z+68rI$pJ-Gj!UQ^yJTWad;J*jG40KN;IF|d{yK7tzm7%u>o}GC1KM$Yp!b+Q5ICX_ z1PAqj%$xdv_Ikh=Z8Y+-wK45oYUgS*e$nb}4w3inqW4!242_A;Dl~w$oBCD!(Um^U^G-NFg8?b#;2N*lMO;V0dro1SqF9FrxG@UubG*H zRM+esG6TcDqKP7Mm$((Y>v+gbZD^o*et*`jpC8S;e8xpmp$!?MqgR)djenG1cAiR? 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