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pos-sys-camera: use IMU-fixed goal coordinates to calc position

pull/1/head
EmaMaker 2021-06-25 07:56:27 +02:00
parent 0fceb85428
commit 054c361653
1 changed files with 6 additions and 6 deletions
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12
src/system/positions/positionsys_camera.cpp
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@ -40,14 +40,14 @@ void PositionSysCamera::update(){
//Calculate robot position based on just-read coordinates for camera. Using CURRENT_DATA_WRITE instead of CURRENT_DATA_READ othwerise we would be late by 1 loop cycle, but the calculations have to stay in sync //Calculate robot position based on just-read coordinates for camera. Using CURRENT_DATA_WRITE instead of CURRENT_DATA_READ othwerise we would be late by 1 loop cycle, but the calculations have to stay in sync
//Coordinates are referred to a cartesian plane with the origin at the center of the field. Angles starting at the north of the robot //Coordinates are referred to a cartesian plane with the origin at the center of the field. Angles starting at the north of the robot
if(CURRENT_DATA_WRITE.bSeen == true && CURRENT_DATA_WRITE.ySeen == true){ if(CURRENT_DATA_WRITE.bSeen == true && CURRENT_DATA_WRITE.ySeen == true){
posx = (CURRENT_DATA_WRITE.cam_xy + CURRENT_DATA_WRITE.cam_xb) / 2; posx = (CURRENT_DATA_WRITE.cam_xy_fixed + CURRENT_DATA_WRITE.cam_xb_fixed) / 2;
posy = CURRENT_DATA_WRITE.cam_yb + CURRENT_DATA_WRITE.cam_yy; posy = CURRENT_DATA_WRITE.cam_yb_fixed + CURRENT_DATA_WRITE.cam_yy_fixed;
}else if (CURRENT_DATA_WRITE.bSeen == true && CURRENT_DATA_WRITE.ySeen == false){ }else if (CURRENT_DATA_WRITE.bSeen == true && CURRENT_DATA_WRITE.ySeen == false){
posx = CURRENT_DATA_WRITE.cam_xb; posx = CURRENT_DATA_WRITE.cam_xb_fixed;
posy = CURRENT_DATA_WRITE.cam_yb + calcOtherGoalY(CURRENT_DATA_WRITE.cam_yb); posy = CURRENT_DATA_WRITE.cam_yb_fixed + calcOtherGoalY(CURRENT_DATA_WRITE.cam_yb_fixed);
}else if (CURRENT_DATA_WRITE.bSeen == false && CURRENT_DATA_WRITE.ySeen == true){ }else if (CURRENT_DATA_WRITE.bSeen == false && CURRENT_DATA_WRITE.ySeen == true){
posx = CURRENT_DATA_WRITE.cam_xy; posx = CURRENT_DATA_WRITE.cam_xy_fixed;
posy = CURRENT_DATA_WRITE.cam_yy + calcOtherGoalY(CURRENT_DATA_WRITE.cam_yy); posy = CURRENT_DATA_WRITE.cam_yy_fixed + calcOtherGoalY(CURRENT_DATA_WRITE.cam_yy_fixed);
} }
//IMPORTANT STEP: or the direction of the plane will be flipped //IMPORTANT STEP: or the direction of the plane will be flipped