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huskyroboticsteam · Nov 8, 2024 · 628be02 · 628be02
1 parent 1c250c7
commit 628be02
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Showing 3 changed files with 24 additions and 11 deletions.
diff --git a/src/TunePID.cpp b/src/TunePID.cpp
@@ -18,7 +18,8 @@ extern "C" {
 }
 
 enum class targetmode_t {
-	step, sinusoidal
+	step,
+	sinusoidal
 };
 
 using namespace robot::types;
@@ -145,7 +146,8 @@ int main(int argc, char** argv) {
 
 	time_point<steady_clock> tp = steady_clock::now();
 	time_point<steady_clock> startTime = tp;
-	while (steady_clock::now() - startTime < 3 * milliseconds(static_cast<int>(period * 1000))) {
+	while (steady_clock::now() - startTime <
+		   3 * milliseconds(static_cast<int>(period * 1000))) {
 		int32_t current_angle = can::motor::getMotorPosition(serial).getData();
 		double difference = (current_angle - angle_target) / 1000.0;
 		acc_error += difference * difference;
@@ -159,7 +161,7 @@ int main(int argc, char** argv) {
 		if (mode == targetmode_t::step) {
 			prescaled_target = round(prescaled_target);
 		}
-		angle_target = (int32_t) round(amplitude * prescaled_target) + starting_angle;
+		angle_target = (int32_t)round(amplitude * prescaled_target) + starting_angle;
 
 		can::motor::setMotorPIDTarget(serial, angle_target);
 

diff --git a/src/ar/ARTester.cpp b/src/ar/ARTester.cpp
@@ -252,7 +252,8 @@ std::vector<cv::Point2d> projectCube(float len, cv::Vec3d rvec, cv::Vec3d tvec)
 }
 
 std::vector<cv::Point2f> projectGrid(cv::Size imageSize, int spacing) {
-	cv::Point2f center(static_cast<float>(imageSize.width) / 2.0f, static_cast<float>(imageSize.height) / 2.0f);
+	cv::Point2f center(static_cast<float>(imageSize.width) / 2.0f,
+					   static_cast<float>(imageSize.height) / 2.0f);
 	std::vector<cv::Point2f> grid_points;
 	std::vector<cv::Point2f> projected_points;
 	float xf, yf;

diff --git a/src/camera/calibration.cpp b/src/camera/calibration.cpp
@@ -121,8 +121,16 @@ static void help(char** argv) {
 	printf("\n%s", liveCaptureHelp);
 }
 
-enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
-enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
+enum {
+	DETECTION = 0,
+	CAPTURING = 1,
+	CALIBRATED = 2
+};
+enum Pattern {
+	CHESSBOARD,
+	CIRCLES_GRID,
+	ASYMMETRIC_CIRCLES_GRID
+};
 
 static double
 computeReprojectionErrors(const std::vector<std::vector<cv::Point3f>>& objectPoints,
@@ -310,7 +318,8 @@ saveCameraParams(const std::string& filename, cv::Size imageSize, cv::Size board
 	}
 
 	if (!imagePoints.empty()) {
-		cv::Mat imagePtMat(static_cast<int>(imagePoints.size()), static_cast<int>(imagePoints[0].size()), CV_32FC2);
+		cv::Mat imagePtMat(static_cast<int>(imagePoints.size()),
+						   static_cast<int>(imagePoints[0].size()), CV_32FC2);
 		for (int i = 0; i < static_cast<int>(imagePoints.size()); i++) {
 			cv::Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
 			cv::Mat imgpti(imagePoints[i]);
@@ -563,17 +572,18 @@ int main(int argc, char** argv) {
 		if (found)
 			drawChessboardCorners(view, boardSize, cv::Mat(pointbuf), found);
 
-		std::string msg = mode == CAPTURING
-							  ? "100/100"
-							  : mode == CALIBRATED ? "Calibrated" : "Press 'g' to start";
+		std::string msg = mode == CAPTURING	   ? "100/100"
+						  : mode == CALIBRATED ? "Calibrated"
+											   : "Press 'g' to start";
 		int baseLine = 0;
 		cv::Size textSize = cv::getTextSize(msg, 1, 1, 1, &baseLine);
 		cv::Point textOrigin(view.cols - 2 * textSize.width - 10,
 							 view.rows - 2 * baseLine - 10);
 
 		if (mode == CAPTURING) {
 			if (undistortImage)
-				msg = cv::format("%d/%d Undist", static_cast<int>(imagePoints.size()), nframes);
+				msg =
+					cv::format("%d/%d Undist", static_cast<int>(imagePoints.size()), nframes);
 			else
 				msg = cv::format("%d/%d", static_cast<int>(imagePoints.size()), nframes);
 		}