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;
}
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));
}
}