defines.h

仿真机器人的经典代码

#ifndef _define//Define the dimension of ground
#define _define
#include "globe.h"
#include "geometry.h"
typedef int array[4];
typedef struct _FORCASTBALL
{
	Formulation Formu;
	double angle;
	double velocity;
	dbPOINT proBall;
} FORCASTBALL;
struct DEGame
{
	int	DEGameMode;
	int	DEBenchMode;
	int	DEGameGround;
	int	DEStartState;
	int	DEStartMode;
	int	DEStrategyStyle;
	int DEStartKiclMode;
};
typedef struct _AngleParameter
{
	double Kp;
	double Kd;
	double AngleError;//视觉所能分辨的角度，现为5度
	double MaxAngleSpeed;//小车的最大旋转边缘线速度
	double MaxAngle;//小车可以以最大角速度旋转的角度下限
	double MaxMoveSpeed;
}AngleParameter;

typedef struct _MoveParameter
{
	double max_distance;
	double max_distanceG;
	double V_MAX;
	double V_max;
	double max_angle;
	double kp4pospd;
	double kd4pospd;
	double kp4pospdG;
	double kd4pospdG;
}MoveParameter,MOVEPARAMETER;
typedef struct _DecisionParamter
{
	int					numPara;	
	int					StartSW;
	char				Command[3][3];//setCommand用来写待发送的数据
	BOOL				nReset;//是否归位,FALSE
	BallInformation		ball;
	BallInformation		oldball;
	BallInformation		oldBallPt[7];
	RobotInford			Robot[7];
	FORCASTBALL			pBall;
}DecisionParamter;
//邓星桥
#define	NUMBER4		7
#define	NUMBER3		10
#define	NUMBER2		2
#define	NUMBER10	10
#define	NUMBER15	25
#define	NUMBERdefend	7
#define	NUMBERLAX	25
#define	NUMBERLAY	25
#define	NUMBERLDX	50
#define	NUMBERLDY	15
#define	NUMBERBHX	50
#define	NUMBERAAX	10
#define	NUMBERAAY	20
#define	NUMBERAWX	30
#define	NUMBERAWY	30
#define	NUMBERABWX	50
#define	NUMBERABWY	7
#define	VERYBOUND	7

#define	CBOUND		10
/////

typedef struct _AccessParameter{
	dbPOINT obstPt;
	dbPOINT targetPt;
	int   x;
	int   y;
	int  boundNo;
	RobotInford  charRobot;	
}AccessParameter;

#define		wallleft			0					// for others
#define		wallright			220
#define		wallbottom			0
#define		walltop				180
#define		goal_y_widthM		50
#define		goal_y_widthL		90
#define		goal_x_widthM		15
#define		goal_x_widthL		35
#define     LINE1               20
#define     LINE2               35
#define     LINE3               60
#define     LINE4               170
#define     BOUND1              15
#define     BOUND2              25
#define     CORNERANGLE         pi/4
#define     BACKANGLE           pi/4
#define     FORTHANGLE          pi/3
#define     ATTACK              0
#define     NORMAL              0
#define		G_OFFSET			0//-1.5
#define		CENTER_X			110		
#define		CENTER_Y			90		
#define		GATE_UP_LINE		110 
#define		GATE_DN_LINE		70
#define		GOAL_UP_LINE		125 
#define		GOAL_DN_LINE		55
#define     gVMAX               120.0
#define		RGATE_X				220			//bound_right;	
#define		RGATE_Y				90			//(bound_top+bound_bottom)/2;
#define     UP_LINE             145
#define     DN_LINE             35
#define		GOALS_UP_LINE		115 
#define		GOALS_DN_LINE		65
#define		GOALL_UP_LINE		135 
#define		GOALL_DN_LINE		45
#define		goal_y_widthS		50
#define Tperiod 0.040
#define BoundMinDist 8
#define bound 10
#define power 1.5
#define DistDiff 1//球与车之间的最大距离偏差
#define MinDist 8//球与车之间的最小距离
//场地分区/////////////////////////////////////////////////////////////////////////////
#define UpBound 1
#define DownBound 2
#define RUpCorner 3
#define RDownCorner 4
#define LUpCorner 5
#define LDownCorner 6
#define BackField 7 
#define MidField 8
#define FrontField 9
#define LZone 10
#define RZone 11 
//     |--------------|-------------------------------------------|-------------|
//     |LUpCorner=5   |                  UpBound=1                |RUpCorner=3  |
// |---|--------------|--------------|---------------|------------|-------------|---|
// |   |LZone=10      |BackField=7   |MidField=8     |FrontField=9| RZone=11    |   |
// |   |              |              |               |            |             |   |
// |---|--------------|--------------|---------------|------------|-------------|---|
//     |LDownCorner=6 |                  DownBound=2              |RDownCorner=4|
//     |--------------|-------------------------------------------|-------------|
////////////////////////////////////////////////////////////////////////////////////////
//*****************************
//*****************************
//UINT(/int)	DEGameMode
#define	Simu5		0
#define	NaroSot	    1
#define	MiroSot		2
#define Simu11		3
//UINT(/int)	DEGameGround
#define	LeftArea	0
#define	RightArea	1
//UINT(/int)	DEStartState
#define	Defense		1
#define	Attack		0
//UINT(/int)	DEStartMode
#define NormalStart 0
#define PenaltyKick 1
#define GoalKick 2
#define FreeKick 3
#define FreeBall 4
#define PenaltyOnly 5
////////////////////////////////////////
//Discrib the special point such as: penalty kick ect.
#define		RPKFK_X				112.5			
#define		RPKFK_Y				65			
#define		LUP_FB_X			37.5			
#define		LUP_FB_Y1			25		

#define		PKICK				0
#define		FKICK				1	
//UINT(/int)	DEStrategyStyle
#define	Strategy1		0
#define	Strategy2		1
#define	Strategy3		2
#define	Strategy4		3
#define	Strategy5		4
#define	Strategy6		5
#define Strategy7       6
#define Strategy8       7
//***************************************************************//
#endif