Spring 2014, ECE 4180 project, Georgia Institute of Technolgoy. This is the human driver (RF controller) program for the Robotics Cat and Mouse program.
Dependencies: ADXL345_I2C_NEST HMC6352 IMUfilter ITG3200_NEST USBHost mbed-rtos mbed
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Diff: AIPosition.h
- Revision:
- 6:3fb9f96765f6
- Parent:
- 5:210cd333f770
diff -r 210cd333f770 -r 3fb9f96765f6 AIPosition.h --- a/AIPosition.h Wed Apr 30 05:53:51 2014 +0000 +++ b/AIPosition.h Wed Apr 30 12:23:04 2014 +0000 @@ -48,8 +48,6 @@ double g_temp = imuFilter.getYaw(); // determine direction we are facing and add to that direction - //y_position += y_temp; - //x_position += y_temp * tan(g_temp); double dx = 0; double dy = 0; QUADRANT quadrant; @@ -81,13 +79,10 @@ break; } + // add to total position x_position += dx; y_position += dy; - // pc.printf("sin(g): %f, cos(g): %f\n\r", sin(g_temp), cos(g_temp)); - // pc.printf("DEBUG: dx: %f, dy: %f, gyro: %f, quadrant: %d\n\r", dx, dy, toDegrees(g_temp), quadrant); - // pc.printf("x: %f, y: %f, dx: %f, dy: %f, g: %f, q: %d\n\r", x_position, y_position, dx, dy, toDegrees(g_temp), quadrant); - // check if human car is close enough to end game gameOver = isGameOver(x_hum, y_hum, x_position, y_position); if(gameOver) { @@ -95,6 +90,10 @@ xbee.putc('d'); pc.printf("Game over sent!\n\r"); + // sanity + for(int i = 0; i < 500; i++) + xbee.putc('d'); + // go to end game routine endGame(); } @@ -122,17 +121,12 @@ void receivePosition(void const *) { + // temp variables char buffer[SERIAL_BUFFER_SIZE]; int index = 0; int xt = 0; int yt = 0; - // clear any garbage - // xbee.getc(); - //xbee.getc(); - - // while(!gameOver) { - // wait for start character while(xbee.readable() && xbee.getc() != 'x' && !gameOver);