Diff: AI_Friday.cpp

Revision:

11:44989c0bcea5

Parent:

10:06cc2b1d2aaf

Child:

12:c1a667ca6c53

--- a/AI_Friday.cpp	Wed May 25 10:29:05 2016 +0000
+++ b/AI_Friday.cpp	Wed May 25 10:36:45 2016 +0000
@@ -44,6 +44,17 @@
 float v2 = 0.0, v2_ref = -60.0;
 float v2_err = 0.0, v2_ierr = 0.0, PIout_2 = 0.0, PIout_2_old = 0.0;
 
+//****  receive and return by bluetooth ************** // bluetooth.getc()
+float xC, yC // car's position
+
+float angleC // car's angle 
+
+float xP,yP //position that car need to reach
+
+float angleR //  angleR =  car-nextSpot direction  --->  car direction
+
+int aI_State = 0;
+
 int main() {
     
     init_TIMER();
@@ -102,6 +113,43 @@
     pwm2.write(PIout_2 + 0.5f);
     TIM1->CCER |= 0x40;
     
+    
+    
+    //*****  main AI  **************************
+    
+    
+    //***** get position information from the bluetooth
+    xC = ; 
+    yC = ; // car's position
+
+    angleC = ; // car's angle 
+
+    xP = ;
+    yP = ;//position that car need to reach
+
+    angleR = ; //  angleR =  car-nextSpot direction  --->  car direction
+    
+    //****   AI_State   ********************
+    
+    switch(aI_State)
+    {
+        case 0:
+            break;
+        case 1:
+            break;
+        case 2:
+            break;
+        case 3:
+            break;
+        case 4:
+        
+    }
+    
+    
+    
+    
+    
+    
     switch(bluetooth.getc())
     {
     case '1':