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));
}
}
