traction.h

该文件是包含了机器人足球比赛中的整个系统的代码

#ifndef _Traction_h_DEFINED
#define _Traction_h_DEFINED

#define TP_PRECISION 20 // Time Parameter
#define BACK_STRIDE_LENGTH_PRECISION 20
#define TURN_PRECISION 12
#define STRAFE_PRECISION 10
#define NUM_TRACTION_JOINTS 8

#define ARRAY_SIZE 20000 

// This is the old traction stuff .. I left in case I screwed something
class Traction {
  public :

    struct Data {
      int count;
      double total;
      double sqrTotal;
    };

    Traction();
    void LoadParameters();

    void SetTraining(bool training) { isTraining = training; }
    bool GetTraining() { return isTraining; }

    void DoTractionSensing(double stepFrequency, double timeParameter, double backStrideLength, double turn, double strafe);
    int type;
  private :
    bool isTraining;
    bool isTrainingContinue;
    bool isTractionControl;
  
    double lastTime;
    int errors[NUM_TRACTION_JOINTS];
    Data items[TP_PRECISION][BACK_STRIDE_LENGTH_PRECISION][TURN_PRECISION][STRAFE_PRECISION][NUM_TRACTION_JOINTS];
};
 
#endif