xixu-me
4ba86f109d
Moved source files to src/, header files to include/, and documentation to docs/. Updated Visual Studio project files (.vcxproj, .vcxproj.filters) to reference new file locations and added include/ to the compiler's include path. Added .gitignore and docs/STRUCTURE.md to document the new repository structure. Removed build artifacts and user-specific files from version control.
146 lines
3.7 KiB
C
146 lines
3.7 KiB
C
/////////////////////////////////////////////////////////////////
|
|
#define BORDERNUM 18
|
|
/////////////////////////////////////////////////////////////////
|
|
#define HIT_LEFTGOAL 0
|
|
#define HIT_RIGHTGOAL 1
|
|
#define HIT_UPBORDER 2
|
|
#define HIT_DOWNBORDER 3
|
|
#define HIT_LEFT_GOAL_UPBORDER 4
|
|
#define HIT_LEFT_GOAL_DOWNBORDER 5
|
|
#define HIT_RIGHT_GOAL_UPBORDER 6
|
|
#define HIT_RIGHT_GOAL_DOWNBORDER 7
|
|
#define HIT_LEFT_UPBORDER 8
|
|
#define HIT_LEFT_DOWNBORDER 9
|
|
#define HIT_RIGHT_UPBORDER 10
|
|
#define HIT_RIGHT_DOWNBORDER 11
|
|
#define HIT_LEFT_GOALBORDER 12
|
|
#define HIT_RIGHT_GOALBORDER 13
|
|
#define HIT_LEFTUPCORNER 14
|
|
#define HIT_LEFTDOWNCORNER 15
|
|
#define HIT_RIGHTDOWNCORNER 16
|
|
#define HIT_RIGHTUPCORNER 17
|
|
#define HIT_YH1 18
|
|
#define HIT_YH2 19
|
|
#define HIT_YHG 20
|
|
#define HIT_BH1 21
|
|
#define HIT_BH2 22
|
|
#define HIT_BHG 23
|
|
#define HIT_BALL 24
|
|
/////////////////////////////////////////////////////////////////
|
|
#define FRONT 0
|
|
#define RIGHT 1
|
|
#define BACK 2
|
|
#define LEFT 3
|
|
///////////////////////////////////////////////////////////////////
|
|
#define BALL 0
|
|
#define HOME1 1
|
|
#define HOME2 2
|
|
#define HOME3 3
|
|
#define HOME4 4
|
|
#define HOME5 5
|
|
#define HOME6 6
|
|
#define HOME7 7
|
|
#define HOME8 8
|
|
#define HOME9 9
|
|
#define HOME10 10
|
|
#define HGOALIE 11
|
|
#define C_GO 0xaa
|
|
#define C_STOP 0x55
|
|
#define G_OFFSET 20 // 15
|
|
#define G_ANGLE_BOUND 60
|
|
#define G_BOUND_BOUND 10
|
|
///////////////////////////////////////////////////////////////////
|
|
// 所在半场
|
|
#define GAME_RIGHT 0
|
|
#define GAME_LEFT 1
|
|
////////////////////////////////////////////////////////////////////
|
|
|
|
#define PI 3.14
|
|
#define M_PI PI
|
|
#define square(a) ((a) * (a))
|
|
#define leng(a, b, c, d) sqrt(square((a) - (c)) + square((b) - (d)))
|
|
#define pleng(a, b) sqrt(square((a.x) - (b.x)) + square((a.y) - (b.y)))
|
|
//////////////////////////////////////////
|
|
#define Atan(y, x) ((x == 0.0 && y == 0.0) ? (0.0) : atan2(y, x))
|
|
#define RAD2DEG (180.0 / PI)
|
|
#define DEG2RAD (PI / 180.0)
|
|
#define Rad2Deg(a) ((double)a * RAD2DEG)
|
|
#define Deg2Rad(a) ((double)a * DED2RAD)
|
|
#define ABS(a) ((a) < 0 ? -(a) : (a))
|
|
/////////////////////////////////////////////////////////////
|
|
union CCommand {
|
|
BYTE Stream[3];
|
|
struct tagData {
|
|
char Lv;
|
|
char Rv;
|
|
char Command;
|
|
} Data;
|
|
CCommand &operator=(CCommand &r) {
|
|
Data.Lv = r.Data.Lv;
|
|
Data.Rv = r.Data.Rv;
|
|
Data.Command = r.Data.Command;
|
|
return *this;
|
|
}
|
|
};
|
|
|
|
struct Robot1 {
|
|
int angle;
|
|
int sAngle;
|
|
CPoint angleRef;
|
|
CPoint sAngleRef;
|
|
CPoint position, oldPosition;
|
|
CPoint sPosition, sOldPosition;
|
|
int nMethod;
|
|
BYTE color[6];
|
|
BOOL bAlive;
|
|
|
|
Robot1() {};
|
|
BOOL find() { return TRUE; };
|
|
BOOL entireFind() { return TRUE; };
|
|
BOOL entireFind(BYTE *lpY, BYTE *lpU, BYTE *lpV) { return TRUE; };
|
|
};
|
|
|
|
struct Robot2 {
|
|
int angle;
|
|
int sAngle;
|
|
CPoint position, oldPosition;
|
|
CPoint sPosition, sOldPosition;
|
|
CPoint pos, oldPos, pos1, oldPos1;
|
|
int nMethod;
|
|
BYTE color[6];
|
|
BOOL bAlive;
|
|
BYTE teamColor[6];
|
|
|
|
Robot2() {};
|
|
BOOL find() { return TRUE; };
|
|
BOOL entireFind() { return TRUE; };
|
|
BOOL entireFind(BYTE *lpY, BYTE *lpU, BYTE *lpV) { return TRUE; };
|
|
};
|
|
|
|
struct Robot3 {
|
|
CPoint position1, oldPosition1;
|
|
CPoint sPosition1, sOldPosition1;
|
|
CPoint position2, oldPosition2;
|
|
CPoint sPosition2, sOldPosition2;
|
|
CPoint position3, oldPosition3;
|
|
CPoint position4, oldPosition4;
|
|
CPoint position5, oldPosition5;
|
|
CPoint sPosition3, sOldPosition3;
|
|
CPoint position6, oldPosition6;
|
|
CPoint position7, oldPosition7;
|
|
CPoint position8, oldPosition8;
|
|
CPoint position9, oldPosition9;
|
|
CPoint position10, oldPosition10;
|
|
CPoint position11, oldPosition11;
|
|
int nMethod;
|
|
BYTE color[6];
|
|
BOOL bAlive;
|
|
|
|
Robot3() {};
|
|
BOOL find1() { return TRUE; }
|
|
BOOL find2() { return TRUE; }
|
|
BOOL find3() { return TRUE; }
|
|
BOOL entireFind() { return TRUE; }
|
|
BOOL entireFind(BYTE *lpY, BYTE *lpU, BYTE *lpV) { return TRUE; }
|
|
};
|