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)); } }