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finished integration between new client and backend

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commands needs to be implemented
This commit is contained in:
ori agranat
2019-10-16 14:13:12 +03:00
parent 0828d2290a
commit dc2b738190
14 changed files with 75 additions and 45 deletions
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5
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -4,7 +4,6 @@ import com.chameleonvision.settings.SettingsManager;
import com.chameleonvision.vision.Orientation;
import com.chameleonvision.vision.Pipeline;
import com.chameleonvision.vision.camera.Camera;
import com.chameleonvision.vision.camera.CameraException;
import com.chameleonvision.web.ServerHandler;
import edu.wpi.cscore.VideoException;
import edu.wpi.first.networktables.*;
@@ -169,8 +168,8 @@ public class VisionProcess implements Runnable {
pipelineResult.CalibratedX = camera.getCamVals().CenterX;
pipelineResult.CalibratedY = camera.getCamVals().CenterY;
} else {
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.M) + currentPipeline.B;
pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.b) / currentPipeline.m;
pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.m) + currentPipeline.b;
}
pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);