From 426009b1e1a6f29cfb7c90da610165887ae8b691 Mon Sep 17 00:00:00 2001 From: hiikariri Date: Fri, 28 Jun 2024 23:13:09 +0700 Subject: [PATCH 1/3] feat: change vertical scan from top --- src/atama/head/process/head.cpp | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/src/atama/head/process/head.cpp b/src/atama/head/process/head.cpp index f5d3f14..e2866c9 100755 --- a/src/atama/head/process/head.cpp +++ b/src/atama/head/process/head.cpp @@ -280,13 +280,15 @@ void Head::process() scan_pan_angle = get_pan_angle(); scan_tilt_angle = get_tilt_angle(); - if (get_tilt_angle() < (scan_bottom_limit + scan_top_limit) / 2) { - scan_position = 0; - scan_tilt_angle -= (fabs(scan_top_limit - scan_bottom_limit) / 2); - } else { - scan_position = 1; - scan_tilt_angle += (fabs(scan_top_limit - scan_bottom_limit) / 2); - } + // if (get_tilt_angle() < (scan_bottom_limit + scan_top_limit) / 2) { + // scan_position = 0; + // scan_tilt_angle -= (fabs(scan_top_limit - scan_bottom_limit) / 2); + // } else { + // scan_position = 1; + // scan_tilt_angle += (fabs(scan_top_limit - scan_bottom_limit) / 2); + // } + scan_position = 1; + scan_tilt_angle += (fabs(scan_top_limit - scan_bottom_limit) / 2); } scan_pan_angle = (scan_left_limit + scan_right_limit) / 2; From 291df350fcfdc9ea964ecb307cebdce0ea8254c7 Mon Sep 17 00:00:00 2001 From: hiikariri Date: Sun, 30 Jun 2024 18:53:05 +0700 Subject: [PATCH 2/3] fix: remove comments --- src/atama/head/process/head.cpp | 7 ------- 1 file changed, 7 deletions(-) diff --git a/src/atama/head/process/head.cpp b/src/atama/head/process/head.cpp index e2866c9..3965e06 100755 --- a/src/atama/head/process/head.cpp +++ b/src/atama/head/process/head.cpp @@ -280,13 +280,6 @@ void Head::process() scan_pan_angle = get_pan_angle(); scan_tilt_angle = get_tilt_angle(); - // if (get_tilt_angle() < (scan_bottom_limit + scan_top_limit) / 2) { - // scan_position = 0; - // scan_tilt_angle -= (fabs(scan_top_limit - scan_bottom_limit) / 2); - // } else { - // scan_position = 1; - // scan_tilt_angle += (fabs(scan_top_limit - scan_bottom_limit) / 2); - // } scan_position = 1; scan_tilt_angle += (fabs(scan_top_limit - scan_bottom_limit) / 2); } From 53f596e329ac1c46f88506af390b80c5aecb9fd7 Mon Sep 17 00:00:00 2001 From: hiikariri Date: Sun, 30 Jun 2024 18:55:26 +0700 Subject: [PATCH 3/3] fix: move the head to top limit for init scanning --- src/atama/head/process/head.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/atama/head/process/head.cpp b/src/atama/head/process/head.cpp index 3965e06..8d5acb9 100755 --- a/src/atama/head/process/head.cpp +++ b/src/atama/head/process/head.cpp @@ -281,7 +281,7 @@ void Head::process() scan_tilt_angle = get_tilt_angle(); scan_position = 1; - scan_tilt_angle += (fabs(scan_top_limit - scan_bottom_limit) / 2); + scan_tilt_angle += fabs(scan_top_limit - scan_bottom_limit); } scan_pan_angle = (scan_left_limit + scan_right_limit) / 2;