calibrater.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 Calibrater_H
#define Calibrater_H

#include "Dude.h"
#include "../TOOLS/Utilities.h"

#define ASIZE 20

class Calibrater : public Dude {
  enum {
    C_GOTOSTART = 1,
    C_FORWARD = 2,
    C_BACKWARD = 3,
    C_STRAFE = 4,
    C_TURN = 5
  };

public:
	Calibrater();
  ~Calibrater();

	virtual void NewReadyModel();
	virtual void NewPlayingModel();

  void WriteConfigFile();
  void OpenFile();

private:
  bool inPlaying;
  Utilities utils;
  double prevX, prevY, prevH;
  double currentSize;
  double initMult;
  double currentMult;

  double startX;
  double startY;
  double startH;
 
  bool forwardComplete;
  bool backwardComplete;
  bool strafeComplete;
  bool turnComplete;
  int currentIndex, currentSubIndex;

  double turnMultiplier;
  double turnMultiplierWithoutFront;
  double forwardMultiplier;
  double backwardMultiplier;
  double strafeMultiplier;

  double forwardMultipliers[ASIZE];
  double backwardMultipliers[ASIZE];
  double strafeMultipliers[ASIZE];
  double turnMultipliers[ASIZE];
  
};

#endif //Calibrater_H