57 lines
1.6 KiB
C++
57 lines
1.6 KiB
C++
#pragma once
|
|
|
|
#include "PID_v2.h"
|
|
#include "systems/systems.h"
|
|
|
|
/*Camera translation: because of mechanical imprecision, the center of the camera and the center of the cone mirror may not coincide
|
|
To overcome this, each coordinate needs to be shifted by some amount, defined on a per-robot basis that needs to be recalibrated each time.
|
|
These values need to be subtracted from the coords used in setMoveSetpoints*/
|
|
#define CAMERA_TRANSLATION_X 0
|
|
#define CAMERA_TRANSLATION_Y 3
|
|
|
|
//Camera center: those setpoints correspond to what we consider the center of the field
|
|
#define CAMERA_CENTER_X 0
|
|
#define CAMERA_CENTER_Y 0
|
|
|
|
//Camera goal: those setpoints correspond to the position of the center of the goal on the field
|
|
#define CAMERA_GOAL_X 0
|
|
#define CAMERA_GOAL_Y -12
|
|
|
|
#define CAMERA_GOAL_MIN_X -14
|
|
#define CAMERA_GOAL_MAX_X 14
|
|
|
|
#define CAMERA_CENTER_Y_ABS_SUM 60
|
|
//Actually it's ± MAX_VAL
|
|
#define MAX_X 50
|
|
#define MAX_Y (CAMERA_CENTER_Y_ABS_SUM/2)
|
|
#define DIST_MULT 1.4
|
|
|
|
#define Kpx 1
|
|
#define Kix 0
|
|
#define Kdx 0
|
|
#define Kpy 1
|
|
#define Kiy 0
|
|
#define Kdy 0
|
|
|
|
class PositionSysCamera : public PositionSystem{
|
|
|
|
public:
|
|
PositionSysCamera();
|
|
void goCenter() override;
|
|
void centerGoal() override;
|
|
void setMoveSetpoints(int x, int y);
|
|
void addMoveOnAxis(int x, int y);
|
|
void update() override;
|
|
void test() override;
|
|
void setCameraPID();
|
|
void CameraPID();
|
|
int calcOtherGoalY(int goalY);
|
|
|
|
double Inputx, Outputx, Setpointx, Inputy, Outputy, Setpointy;
|
|
int MAX_DIST, vx, vy, axisx, axisy;
|
|
bool givenMovement;
|
|
PID* X;
|
|
PID* Y;
|
|
|
|
};
|