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168 lines (135 loc) · 3.42 KB
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#ifndef _DEFINE_H_
#define _DEFINE_H_
// Game Type
//#define SimuroSot5
#define SimuroSot11
//#define MiroSot3
//#define MiroSot5
//#define Mirosot11
typedef struct DecisionParamter1
{
int numPara;
int StartSW;
char Command[3][3];
BOOL nReset;
/*BallInformation ball;
BallInformation oldball;
BallInformation oldBallPt[7];
RobotInford Robot[7];
FORCASTBALL pBall;
*/
}DecisionParamter;
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 _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;
//薛方正
#define STARTTIME 5
#define NUMBER2 0 //4
///// For GoalAction
#define G_OFFSET 1
#define gVMAX 125.0
////// DEGameGround
#define LeftArea 0
#define RightArea 1
////// DEStartState
#define Defense 1
#define Attack 0
////// DEStartMode
#define NormalStart 0
#define PenaltyKick 1
#define GoalKick 4
#define FreeKick 2
#define FreeBall 3
#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
//***************************************************************//
// 和各个比赛类型相关的参数
#ifdef SimuroSot5
#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 GATE_UP_LINE 137.29//479
#define GATE_DN_LINE 42.71//149
#define GOAL_UP_LINE 116.65//407
#define GOAL_DN_LINE 63.34//221
#define ROBOT_LENGTH 4.5
#define BALL_SIZE 2.0
#define MAXSPEED 125
// For Areas
#define LINE1 20
#define LINE2 25
#define LINE3 60
// For Actions
#define BUFFERDIST 5
#else
#ifdef SimuroSot11
// 和各个比赛类型相关的参数
#define ROBOTNUMBER 11
#define goalwidth 40 //球门长度
#define goal_y_widthM 53.31
#define goal_y_widthL 94.58
#define goal_x_widthM 10.51
#define goal_x_widthL 20
#define GOALS_UP_LINE 116.65
#define GOALS_DN_LINE 63.34
#define GOALL_UP_LINE 137.29
#define GOALL_DN_LINE 42.71
#define goal_y_widthS 53.31
#define GATE_UP_LINE 479//479
#define GATE_DN_LINE 149//149
#define GOAL_UP_LINE 407//407
#define GOAL_DN_LINE 221//221
#define goal_y_width 186//186
#define goal_x_width 42//42
#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 CENTER_X 450//450
#define CENTER_Y 314//314
#define GOALWIDTH 60
//#define MAXSPEED 125
#define MAXSPEED 125
#define ROBOT_LENGTH 6
#define BALL_SIZE 3.0
// For Areas
#define LINE1 80
#define LINE2 70
#define LINE3 220
#endif
#endif
#endif // _DEFINE_H_
//obot1 realball;