//******************************SomeOption.h**************
//*******角度差值模糊定義**********
#define Eh_NB   -6
#define Eh_NM   -4
#define Eh_NS   -2
#define Eh_ZO   0
#define Eh_PS   +2
#define Eh_PM   +4
#define Eh_PB   +6
//*******縱位移差值模糊定義**********
#define Ey_NB   -16
#define Ey_NM   -12
#define Ey_NS   -6
#define Ey_NZ   -2
#define Ey_PZ   +2
#define Ey_PS   +6
#define Ey_PM   +12
#define Ey_PB   +16
//*******控制偏移角度模糊定義**********
#define RB      +10
#define RM      +6
#define RS      +2
#define ZO      0
#define LS      -2
#define LM      -6
#define LB      -10
//*******橫位移差值模糊定義************
#define Ex_NB   -10
#define Ex_NS   -5
#define Ex_ZO   0
#define Ex_PS   +5
#define Ex_PB   +10
//*******速度增量模糊定義**************
#define V_PB    +10
#define V_PS    +5
#define V_ZO    0
#define V_NS    -5
#define V_NB    -10 


struct RobotInformation
{
	float  Theta;
	CPoint nCenter;
	float  RobotVL;
	float  RobotVR;
};