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motor signals in the loop

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Tim Zeuner 2023-01-04 21:50:59 +01:00
parent 747053f132
commit 7175b68abe
3 changed files with 7 additions and 1 deletions
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4
AutonomousMode/autonomous_mode_main.cpp
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@ -40,7 +40,9 @@ int main(void)
double delta = static_cast<double>(deltaMs) / 1000.0; double delta = static_cast<double>(deltaMs) / 1000.0;
double frameRate = 1.0 / static_cast<double>(delta); double frameRate = 1.0 / static_cast<double>(delta);
std::cout << "Frame rate: " << frameRate << std::endl; std::cout << "Frame rate: " << frameRate << " angle: " << result.data.angle
<< " motor 1: " << result.motorSignals[0] << " motor 2: " << result.motorSignals[1]
<< " motor 3: " << result.motorSignals[2] << " motor 4: " << result.motorSignals[3] <<std::endl;
last = now; last = now;
} }
}, &mutex); }, &mutex);

3
AutonomousMode/lfr.cpp
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@ -68,11 +68,14 @@ void LFR::createThread()
processing.filterReflections(data); processing.filterReflections(data);
processing.calcAngles(data, originalImage.cols, originalImage.rows, left); processing.calcAngles(data, originalImage.cols, originalImage.rows, left);
controlModule.calcSpeeds(1,1, data.angle);
processedImage = provideOutput(originalImage, processedImage, data, roi); processedImage = provideOutput(originalImage, processedImage, data, roi);
result.rawImage = originalImage; result.rawImage = originalImage;
result.processedImage = processedImage; result.processedImage = processedImage;
result.data = data; result.data = data;
result.motorSignals = controlModule.readMotors();
} }
catch(std::exception const &ex) catch(std::exception const &ex)
{ {

1
AutonomousMode/lfr.h
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@ -21,6 +21,7 @@ struct LFR_Result
cv::Mat rawImage; cv::Mat rawImage;
cv::Mat processedImage; cv::Mat processedImage;
FrameData data; FrameData data;
std::vector<float> motorSignals;
}; };
class LFR class LFR