defines.h

robocup 5vs5修改板决策例程

#ifndef _DEFINE_H_
#define _DEFINE_H_

// Game Type
//#define SimuroSot5
//#define SimuroSot11
//#define MiroSot3
//#define MiroSot5
//#define MiroSot11


#ifdef MiroSot3
#define MiroSot
#elif defined MiroSot5
#define MiroSot
#elif defined MiroSot11
#define MiroSot
#endif



///// For GoalAction
#define		G_OFFSET			1

////// DEGameGround
#define	LeftArea	0
#define	RightArea	1

////// DEStartState
#define	Defense		1
#define	Attack		0

////// DEStartMode
#define NormalStart 0
#define FreeBall 1
#define PenaltyKick 2
#define FreeKick 3
#define GoalKick 4

////////////////////////////////////////
//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		


//***************************************************************//

// 和各个比赛类型相关的参数
/************************************************************************/
/* SimuroSot5                                                           */
/************************************************************************/
#ifdef SimuroSot5 
#define DATADIRECTORY	"C:\\Data"//

#define ROBOTNUMBER		5

#define PITCH_LENGTH 			220
#define PITCH_WIDTH 	 		180
#define PENALTY_AREA_LENGTH		35
#define PENALTY_AREA_WIDTH		80
#define GOAL_AREA_LENGTH		15
#define GOAL_AREA_WIDTH			50
#define GOAL_WIDTH				40
#define GOAL_DEPTH				15

#define ROBOT_LENGTH	4//.5
#define BALL_SIZE		2.0

#define MAXSPEED	127

// For Areas
#define LINE1 20
#define LINE2 25
#define LINE3 60

/************************************************************************/
/* SimuroSot11                                                          */
/************************************************************************/
#elif defined SimuroSot11

#define DATADIRECTORY	"Simu11Data"

#define ROBOTNUMBER		11

#define PITCH_LENGTH 			900  //场地的长
#define PITCH_WIDTH 	 		628
#define PENALTY_AREA_LENGTH		92	//大禁区	
#define PENALTY_AREA_WIDTH		390
#define GOAL_AREA_LENGTH		38	//小禁区
#define GOAL_AREA_WIDTH			330
#define GOAL_WIDTH				100	//球门
#define GOAL_DEPTH				40

#define MAXSPEED	125

#define ROBOT_LENGTH	6
#define BALL_SIZE		3.0

// For Areas
#define LINE1 80
#define LINE2 70
#define LINE3 220

/************************************************************************/
/* MiroSot5                                                             */
/************************************************************************/
#elif defined MiroSot5

#define DATADIRECTORY	"Miro5Data"

#define ROBOTNUMBER		5

#define PITCH_LENGTH 			220
#define PITCH_WIDTH 	 		180
#define PENALTY_AREA_LENGTH		35
#define PENALTY_AREA_WIDTH		80
#define GOAL_AREA_LENGTH		15
#define GOAL_AREA_WIDTH			50
#define GOAL_WIDTH				40
#define GOAL_DEPTH				15

#define ROBOT_LENGTH	4.5
#define BALL_SIZE		2.0

#define MAXSPEED	110

// For Areas
#define LINE1 20
#define LINE2 25
#define LINE3 60

/************************************************************************/
/* MiroSot3                                                             */
/************************************************************************/
#elif defined MiroSot3

#define DATADIRECTORY	"Miro3Data"

#define ROBOTNUMBER		3

#define PITCH_LENGTH 			150
#define PITCH_WIDTH 	 		130
#define PENALTY_AREA_LENGTH		25
#define PENALTY_AREA_WIDTH		90
#define GOAL_AREA_LENGTH		15
#define GOAL_AREA_WIDTH			70
#define GOAL_WIDTH				40
#define GOAL_DEPTH				10

#define ROBOT_LENGTH	4.5
#define BALL_SIZE		2.0

#define MAXSPEED	130

// For Areas
#define LINE1 15
#define LINE2 20
#define LINE3 50

/************************************************************************/
/* MiroSot11                                                             */
/************************************************************************/
#elif defined MiroSot11

#define DATADIRECTORY	"Miro11Data"

#define ROBOTNUMBER		7

#define PITCH_LENGTH 			280
#define PITCH_WIDTH 	 		220
#define PENALTY_AREA_LENGTH		50
#define PENALTY_AREA_WIDTH		110
#define GOAL_AREA_LENGTH		20
#define GOAL_AREA_WIDTH			70
#define GOAL_WIDTH				60
#define GOAL_DEPTH				15

#define ROBOT_LENGTH	4.5
#define BALL_SIZE		2.0

#define MAXSPEED	60

// For Areas
#define LINE1 30
#define LINE2 35
#define LINE3 70

#endif



#endif	// _DEFINE_H_