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position-sys-cam: keep tilt when going to position

pull/1/head
EmaMaker 2022-06-26 19:33:08 +02:00
parent 26c3ec53e3
commit c8997bfc73
1 changed files with 12 additions and 1 deletions
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13
src/system/positions/positionsys_camera.cpp
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@ -5,6 +5,13 @@
#include "math.h" #include "math.h"
int diff(int a, int b){
int diffB = abs(min(a, b) - max(a, b));
int diffB1 = 360-diffB;
int diff = min(diffB, diffB1);
return diff;
}
PositionSysCamera::PositionSysCamera() { PositionSysCamera::PositionSysCamera() {
MAX_DIST = sqrt(MAX_X*MAX_X + MAX_Y*MAX_Y); MAX_DIST = sqrt(MAX_X*MAX_X + MAX_Y*MAX_Y);
@ -172,11 +179,15 @@ void PositionSysCamera::CameraPID(){
CURRENT_DATA_WRITE.addvx = vx; CURRENT_DATA_WRITE.addvx = vx;
CURRENT_DATA_WRITE.addvy = vy; CURRENT_DATA_WRITE.addvy = vy;
#else #else
drive->prepareDrive(dir, speed, 0); int tmp = (CURRENT_DATA_READ.tilt+360)%360;
dir = dir-tmp;
if(dir < 0) dir+=360;
drive->prepareDrive(dir , speed, CURRENT_DATA_WRITE.tilt);
#endif #endif
} }
} }
void PositionSysCamera::test(){ void PositionSysCamera::test(){
} }