change decition_brain. change farTrace.push_back(trace[gpsIndex]) to farTrace.push_back(trace[i])

src/decition/decition_brain/decition/adc_controller/pid_controller.cpp

@@ -107,7 +107,8 @@ float iv::decition::PIDController::getPidAngle(float realSpeed, std::vector<Poin
     EPos = trace[gpsIndex].x;
 
     for (unsigned int i = max(0, gpsIndex - 3); i < min((size_t)(gpsIndex + 3), trace.size()); i++) {
-        farTrace.push_back(trace[gpsIndex]);
+ //       farTrace.push_back(trace[gpsIndex]);
+        farTrace.push_back(trace[i]);
     }
     if (farTrace.size() == 0) {
         EAng = 0;
@@ -159,6 +160,7 @@ float iv::decition::PIDController::getAveDef(std::vector<Point2D> farTrace){
     }
     double average_y = sum_y / min(5, (int)farTrace.size());
     double average_x = sum_x / min(5, (int)farTrace.size());
+    if(average_y == 0)average_y = 10.0;
     return atan(average_x / average_y) / M_PI * 180;
 }