Example #1
0
 public PathPlanner(int noofbots, int R_ID,  int team,int GoalkeyID,int noOfBlueRobo, int noOfYellowRobo, int goaltarget)
 {
     blueRobotX = new double[noOfBlueRobo];
     blueRobotY = new double[noOfBlueRobo];
     blueRobotOrient = new double[noOfBlueRobo];
     yellowRobotX = new double[noOfYellowRobo];
     yellowRobotY = new double[noOfYellowRobo];
     yellowRobotOrient = new double[noOfYellowRobo];
     RobotID = R_ID;
     Blueteam = team;
     pathFollower = new PathFollower();
     motionPlaning = new ObstacleTrejectory();
     trejectoryPloting = new Thread(pathDraw);
     Goaltarget = goaltarget;
 }
Example #2
0
        public PathPlanning()
        {
            changepath = new int();
            FinalDistance = new double();
            FinalAngle = new double();
            cal = new Calculation();
            pid =new PID();
            Newpath = new ObstacleTrejectory();
            changepath = 1;
            Rob_P_dist = new double();
            index = new int();
            pathcomplete = 1;
            x = new int[360];
            y = new int[360];

            for (int i=0; i<360;i++)
            {
                x[i] =(int) (-1700 + 800 * Math.Cos((i+180) * Math.PI / 180));
                y[i] = (int)(0 + 800 * Math.Sin((i+180) * Math.PI / 180));
            }
        }