miro99.h

FIRA 3对3 机器人足球PC端控制程序。

CComm			m_pComm;
Predictor		preX;
Predictor		preY;

void	My_Strategy(void);
void	Game(void);
void	Send_Command(void);
void	Send_Enable(void);
void	Send_Disable(void);
void	InitRole(void);
void	Position(int whichrobot, double x,double y);
void	GPosition(int whichrobot, double x, double y);
void	Shoot(int whichrobot, double px, double py, double tx, double ty);
void	Angle(int whichrobot, int desired_angle);
void	Kick(int whichrobot);
void	AKick(int whichrobot);
double	Field(double x,double y,double dest, int whichrobot);
void	Goalie(int whichrobot);
void	Velocity(int whichrobot, int vl,int vr);
void	Attack(int num1, int num2);
void	StopRobot(void);
void	WhichRobotStop(int whichrobot);
void	InitCommandData(void);
void    AvoidBound(int whichrobot);
void Auto_Robot_Position(int whichrobot, int desired_angle, double dx,double dy);
void Auto_Position();
void FieldPosition4Goalie(int whichrobot, double x, double y);
void FieldPosition4Shoot3(int whichrobot, double x, double y);
 
int		vR,vL;//for Velocity function
double	Ca_ball_x, Ca_ball_y, Cd_ball_x, Cd_ball_y, Ck_ball_x, Ck_ball_y;
 
BYTE	data[10];
int		nKick;//for Kick function
int		tmp_angle[3];
int		angle_sum;
static double  filter;
double	estimate_x, estimate_y;
long	disp_x[3], disp_y[3];
int		MODE,MODE1 = 100;//for Game function
unsigned long	count;

int		debug;
double  prev_dist_err, prev_dist_err4goalie, prev_center_vc4goalie;
double  prev_e_theta4goalie,prev_e_theta4attack;
double	theta,dist_err,past_e_theta_shoot3;;