// 模糊控制仿真View.h : interface of the CMyView class
//
/////////////////////////////////////////////////////////////////////////////

#if !defined(AFX_VIEW_H__1A5FECCD_BD5D_11D5_8A75_444553540000__INCLUDED_)
#define AFX_VIEW_H__1A5FECCD_BD5D_11D5_8A75_444553540000__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

class CMyView : public CView
{
protected: // create from serialization only
	CMyView();
	DECLARE_DYNCREATE(CMyView)

// Attributes
public:
	CMyDoc* GetDocument();
public:
	struct speedinformation
	{
		float rv;
		float lv;
	};

	struct FloatCoordinate
	{
		float fTargetX;
		float fTargetY;
	};

// Operations
public:

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CMyView)
	public:
	virtual void OnDraw(CDC* pDC);  // overridden to draw this view
	virtual BOOL PreCreateWindow(CREATESTRUCT& cs);
	protected:
	virtual BOOL OnPreparePrinting(CPrintInfo* pInfo);
	virtual void OnBeginPrinting(CDC* pDC, CPrintInfo* pInfo);
	virtual void OnEndPrinting(CDC* pDC, CPrintInfo* pInfo);
	virtual void OnUpdate(CView* pSender, LPARAM lHint, CObject* pHint);
	//}}AFX_VIRTUAL

// Implementation
public:
	
	float robot_jiao;
	void GetNextPosure(double VL, double VR);
	void Move(int Desired_angle);
	int GetDesireJiao(float a,int delta_a);
	float GetDanQianJiao(float jiao);
	int RuleBase(int deltaX,int deltaY,int deltaH);
	float AlterAngle(float degree);
	void DataBase(CPoint point, float theta);
	void DrawRobotPath(CDC *pDC);
	float  m_nTimer;
	CPoint newPoint;
	int    FEh;
	int    FEy;
	int    FEx;
	int    Delta;
	int		MoveVmax1;

	struct FloatCoordinate fRobot;

	void DrawHopePath(CDC *pDC);
	void GetRobotPeak(CPoint center,float theta,CPoint pt4[],float side=22);
	void DrawRobot(CDC* pDC);
	void DrawField(CDC* pDC);
	virtual ~CMyView();
#ifdef _DEBUG
	virtual void AssertValid() const;
	virtual void Dump(CDumpContext& dc) const;
#endif

protected:

// Generated message map functions
protected:
	//{{AFX_MSG(CMyView)
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg void OnControlStart();
	afx_msg void OnControlStop();
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

#ifndef _DEBUG  // debug version in 模糊控制仿真View.cpp
inline CMyDoc* CMyView::GetDocument()
   { return (CMyDoc*)m_pDocument; }
#endif

/////////////////////////////////////////////////////////////////////////////

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif // !defined(AFX_VIEW_H__1A5FECCD_BD5D_11D5_8A75_444553540000__INCLUDED_)