NOTOS_RM_AutoAim

This project is the complete code for the visual function of the Guangzhou Nanfeng College Notos Team in the 2024 season.

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Repository description

Repository directory

 .
 ├── AngleSolver                // angle solver library, including angle solver class
 │ ├── AngleSolver.cpp          // angle solution file
 │ └─── AngleSolver.h           // angle solution header file
 ├── Armor                      // armor plate recognition library, including armor plate recognition class
 │ ├── Armor.h                  // armor plate identification header file
 │ ├── LightBar.cpp             // light bar parameter file
 │ ├── ArmorBox.cpp             // armor plate parameter file
 │ ├── ArmorNumClassifier.cpp   // digital identification file
 │ ├── findLights.cpp           // light bar identification file
 │ ├── matchArmors.cpp          // armor plate matching file
 │ └── ArmorDetector.cpp        // armor plate recognition initial file
 ├── Calibration                // camera calibration file
 │ ├── Image                    // image folder
 │ ├── Calibaration.cpp         // camera calibration
 │ └── file_images.txt          // image path
 ├── cmake-build-debug          // compile and generate folder
 ├── General                    // configuration file
 │ ├── 123svm.xml               // digital classifier
 │ ├── camera_params.xml        // camera configuration file
 │ └── General.h                // general header file
 ├── GraphWindow                // Graph window
 │ ├── MotionDetection.cpp      // Motion detection file
 │ ├── MotionDetection.h        // Motion detection header file
 │ ├── qcustomplot.cpp          // qt plot configuration file
 │ └── qcustomplot.h            // qt plot configuration header file
 ├── Filter                     // filter solve
 │ ├── Kalman.cpp               // kalman solve file
 │ └── Kalman.cpp               // kalman solve header file
 ├── MindVision                 // camera File
 │ ├── head                     // camera header file
 │ │ ├── CameraApi.h            // camera API file
 │ │ ├── CameraCapture.h        // camera interface file
 │ │ ├── CameraDefine.h         // camera parameter file
 │ │ └── CameraStatus.h         // camera definition file
 │ └── cameramain.cpp           // camera main function
 ├── README                     // README file
 │ ├── README.zh-cn.md          // Simplified Chinese description file
 │ └── README.zh-tc.md          // Traditional Chinese description file
 ├── Serial                     // serial communication library, including serial communication class
 │ ├── CRC_Check.cpp            // CRC check
 │ ├── CRC_Check.h              // CRC check header file
 │ ├── serialport.cpp           // serial communication class
 │ └── serailport.h             // serial communication category header file
 ├── AutoAim.cpp                // automatic aiming class
 ├── CMakeLists.txt             // cMake project file
 ├── Debug.h                    // debug header file
 ├── Imagelnit.cpp              // image initialization file
 ├── LICENSE                    // License
 ├── main.cpp                   // main function
 ├── README.md                  // project description file
 └── WatchDog.sh                // self-starting script

Communication protocol with stm32

Mini PC sent:

Byte0	Byte1	Byte2	Byte3	Byte4	Byte5	Byte6	Byte7	Byte8	Byte9
0x16	IsHaveArmor	YawAngleSymbol	IntYawAngleData	DecimalYawAngleData	PitchAngleSymbol	IntPitchAngleData	DecimalPitchAngleData	autoaim	0xFE

Mini PC receive:

Byte0	Byte1	Byte2	Byte3
IsHaveKalman	ArmorSelection	ArmorColor	0x03

Graph window

Motion detection handle click events

MouseLeftButton	MouseMiddleButton	MouseRightButton
CalibrationPoint	ContinuePlot	InterruptPlot

Description of arms

Super contest

1(Hero), 2(Engineer), 3(Infantry), 4(Infantry), 5(Outpost), 6(Base), 7(Sentinel)

League match

1(Hero), 3(Infantry), 4(Infantry), 6(Base), 7(Sentinel)

v2ray self-starting script

$sudo systemctl start v2raya.service

open the serialPort script

$sudo chmod 777 /dev/ttyUSB0