roboforum.ru

' Get turret control variables
turret_v = GetVariable("TURRET_V_CONTROL")
turret_h = GetVariable("TURRET_H_CONTROL")
turret_f = GetVariable("TURRET_FIRE")


nvObjectsTotal = GetVariable("NV_OBJECTS_TOTAL")

if nvObjectsTotal>0 then   ' If any object was found
   ' Get image size
   img_w = GetVariable("IMAGE_WIDTH")
   img_h = GetVariable("IMAGE_HEIGHT")
   
   ' Get array variables of recognized objects
   nvArrObjRectX = GetArrayVariable("NV_ARR_OBJ_RECT_X")
   nvArrObjRectY = GetArrayVariable("NV_ARR_OBJ_RECT_Y")
   nvArrObjRectW = GetArrayVariable("NV_ARR_OBJ_RECT_W")
   nvArrObjRectH = GetArrayVariable("NV_ARR_OBJ_RECT_H")

   ' Get center coordinates of first object from array
   obj_x = nvArrObjRectX(0) + nvArrObjRectW(0)/2
   obj_y = nvArrObjRectY(0) - nvArrObjRectH(0)/2
   
   ' Get difference between object and screen centers
   dX = img_w/2 - obj_x
   dY = img_h/2 - obj_y
   
   threshold = 40
   
   if dX > threshold and turret_h > -128 then
      ' The object is at left side
      turret_h = turret_h - 1
   end if

   if dX < -threshold and turret_h < 127 then
      ' The object is at right side
      turret_h = turret_h + 1
   end if
   
   if dY > threshold and turret_v > -128 then
      ' The object is at the bottom
      turret_v = turret_v - 1
   end if
   
   if dY < -threshold and turret_v < 127 then
      ' The object is at the top
      turret_v = turret_v + 1
   end if

   ' Is the target locked?
   if dX < threshold and dX > -threshold and dY < threshold and dY > -threshold then
      turret_f = 1
   else
      turret_f = 0
   end if
else
   ' Back to the center if object is lost
   if turret_h > 0 then turret_h = turret_h - 1
   if turret_h < 0 then turret_h = turret_h + 1
   if turret_v > 0 then turret_v = turret_v - 1
   if turret_v < 0 then turret_v = turret_v + 1
   
   turret_f = 0
end if

' Set turret control variables
SetVariable "TURRET_V_CONTROL", turret_v
SetVariable "TURRET_H_CONTROL", turret_h
SetVariable "TURRET_FIRE", turret_f