public PathFollower() { pid = new PID(); pathfollower = new Thread(pathRunner); angular = new PID(); cal = new Calculation(); }
public GoalKee(int index__,double goalX) { index = index__; cal = new Calculation(); goalkeyX = new double(); goalKeyY = new double(); goalkeyX = goalX; distance = new double[2]; }
public ObstacleTrejectory() { Totaldistance = new double(); angle = new double(); XCC = new Stack(); YCC = new Stack(); // Angle = new Queue(); // Point_distance = new Queue(); cal = new Calculation(); }
public strategic(int goalkeePosition) { // X = new double[8] { -1000,-800,-500,-200,-100, 100,500,1000 }; // Y = new double[8] { 500, 500, 500, 500, 500, 500, 500, 500}; RobotX = new double(); RobotY = new double(); cal = new Calculation(); myGoalKee = goalkeePosition; targetGoal = -goalkeePosition; kicking = new Skills(); }
public FeedBack() { sock.JoinMulticastGroup(IPAddress.Parse("224.5.23.2"), 50); iep = new IPEndPoint(IPAddress.Any, 0); c_radius = new int(); a = new int(); BluerobotID = new double[noOfRobot]; BluerobotX = new double[noOfRobot]; BluerobotY = new double[noOfRobot]; /////////////////////////////////// YellowrobotID = new double[noOfRobot]; YellowrobotX = new double[noOfRobot]; YellowrobotY = new double[noOfRobot]; //////////////////////////////////// R2R_distance = new double[noOfRobot]; speed = new int[noOfRobot]; ///////////////////////////////////////// BluerobotOrient = new double[noOfRobot];Bluedistance = new double[noOfRobot]; Blueangle = new double[noOfRobot]; Blueorient_Ball = new double[noOfRobot]; Blueorient_Goal = new double[noOfRobot]; ////////////////////////////////////////// YellowrobotOrient = new double[noOfRobot]; Yellowdistance = new double[noOfRobot]; Yellowangle = new double[noOfRobot]; Yelloworient_Ball = new double[noOfRobot]; Yelloworient_Goal = new double[noOfRobot]; ///////////////////////////////////////// calc = new Calculation(); Controller = new Control(noOfRobot,Striker,Goalkee,Mybotblue, noOfRobotBlue,noOfRobotYellow, goalkeyPositonX); kalmanballX = new KalmanFilter(); KalmanBally = new KalmanFilter(); KalmanThread = new Thread(kalmanrunning); FilterBlueX0 = new KalmanNoiseFilter(); FilterBlueX1 = new KalmanNoiseFilter(); FilterBlue0Orient = new KalmanNoiseFilter(); FilterBlueY0 = new KalmanNoiseFilter(); FilterBlueY1 = new KalmanNoiseFilter(); FilterBlue1Orient = new KalmanNoiseFilter(); FilterYellowX0 = new KalmanNoiseFilter(); FilterYellowX1 = new KalmanNoiseFilter(); FilterYellow1Orient = new KalmanNoiseFilter(); FilterYellowY0 = new KalmanNoiseFilter(); FilterYellowY1 = new KalmanNoiseFilter(); FilterYellow0Orient = new KalmanNoiseFilter(); }
public Control(int noofbots,int striker,int goalkey,int team,int noOfBlueRobot, int noOfYellowRobot,int myGoalkeyPosition) { blueRobotX = new double[noOfBlueRobot]; blueRobotY = new double[noOfBlueRobot]; blueRobotOrient = new double[noOfBlueRobot]; yellowRobotX = new double[noOfYellowRobot]; yellowRobotY = new double[noOfYellowRobot]; yellowRobotOrient = new double[noOfYellowRobot]; Striker = striker; Goalkey = goalkey; Blueteam = team; goaler = new GoalKee(goalkey,myGoalkeyPosition); Strategic = new strategic(myGoalkeyPosition ); cal = new Calculation(); StrikerPlan = new PathPlanner(noofbots, striker, team,goalkey, noOfBlueRobot, noOfYellowRobot,(-myGoalkeyPosition)); GoalkeePlan = new PathPlanner(noofbots, goalkey, team,goalkey, noOfBlueRobot, noOfYellowRobot,(-myGoalkeyPosition)); }
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)); } }