
#include "PublicSDKMotion.h"

#include <deque>

using namespace std;

struct dualPressData {
	int left_press;
	int right_press;
	int time;
};

struct dualAccData {
	int left_acc;
	int right_acc;
};
//尝试解决深蹲问题
class BuildHouse: public PublicSDKMotion {

	virtual void Process(int time_stamp, int* right_pos, int* right_att, int* right_acc, int right_zupt, int right_front_press, int right_back_press,
	int* left_pos, int* left_att, int* left_acc, int left_zupt, int left_front_press, int left_back_press,
		int jump, int down, int rssi);

	deque<dualPressData> front_press;
	deque<dualPressData> back_press;

	deque<dualPressData> front_press_left;
	deque<dualPressData> front_press_right;

	deque<dualPressData> dual_press_front;
	deque<dualPressData> dual_press_back;

	deque<dualAccData> dual_acc;

	int refuse_down_motion_time = 0;

	int down_count = 0;

	int last_down = 0;
	int last_front_down = 0;

	int front_wait_500 = 0;

	int back_wait_1000 = 0;

	int cmd_wait_time = 0;

	int front_down_cmd_wait_time = 0;

	
};