This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Processes/AI/ai.cpp@50:937e860f4621, 2013-04-12 (annotated)
- Committer:
- madcowswe
- Date:
- Fri Apr 12 21:26:02 2013 +0000
- Revision:
- 50:937e860f4621
- Parent:
- 49:665bdca0f2cd
- Parent:
- 46:adcd57a5e402
- Child:
- 55:0c8897da6b3a
Merged oskar and cooper
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rsavitski | 30:791739422122 | 1 | #include "ai.h" |
rsavitski | 30:791739422122 | 2 | |
rsavitski | 30:791739422122 | 3 | namespace AI |
rsavitski | 30:791739422122 | 4 | { |
rsavitski | 30:791739422122 | 5 | |
rsavitski | 30:791739422122 | 6 | void ailayer(void const *dummy) |
rsavitski | 30:791739422122 | 7 | { |
rsavitski | 39:44d3dea4adcc | 8 | Waypoint *current_waypoint = new Waypoint[5]; |
rsavitski | 38:c9058a401410 | 9 | |
rsavitski | 39:44d3dea4adcc | 10 | current_waypoint[0].x = 0.5; |
madcowswe | 49:665bdca0f2cd | 11 | current_waypoint[0].y = 0.5; |
rsavitski | 39:44d3dea4adcc | 12 | current_waypoint[0].theta = 0.0; |
rsavitski | 39:44d3dea4adcc | 13 | current_waypoint[0].pos_threshold = 0.05; |
rsavitski | 39:44d3dea4adcc | 14 | current_waypoint[0].angle_threshold = 0.05*PI; |
xiaxia686 | 46:adcd57a5e402 | 15 | |
xiaxia686 | 46:adcd57a5e402 | 16 | current_waypoint[1].x = 2.5; |
madcowswe | 49:665bdca0f2cd | 17 | current_waypoint[1].y = 0.5; |
rsavitski | 39:44d3dea4adcc | 18 | current_waypoint[1].theta = 0; |
xiaxia686 | 46:adcd57a5e402 | 19 | current_waypoint[1].pos_threshold = 0.05; |
madcowswe | 49:665bdca0f2cd | 20 | current_waypoint[1].angle_threshold = 0.05*PI; |
rsavitski | 39:44d3dea4adcc | 21 | |
rsavitski | 39:44d3dea4adcc | 22 | motion::setNewWaypoint(current_waypoint); |
rsavitski | 30:791739422122 | 23 | |
madcowswe | 49:665bdca0f2cd | 24 | int currwptidx = 0; |
madcowswe | 50:937e860f4621 | 25 | Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER, UPPER); |
madcowswe | 50:937e860f4621 | 26 | Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER, LOWER); |
madcowswe | 50:937e860f4621 | 27 | |
rsavitski | 30:791739422122 | 28 | while(1) |
rsavitski | 30:791739422122 | 29 | { |
rsavitski | 35:f8e7f0a72a3d | 30 | Thread::wait(50); |
rsavitski | 30:791739422122 | 31 | |
rsavitski | 39:44d3dea4adcc | 32 | motion::waypoint_flag_mutex.lock(); |
rsavitski | 39:44d3dea4adcc | 33 | if (motion::checkWaypointStatus()) |
rsavitski | 30:791739422122 | 34 | { |
madcowswe | 50:937e860f4621 | 35 | if(c_upper.getColour() == BLUE && c_lower.getColour() == RED){ |
madcowswe | 50:937e860f4621 | 36 | motion::setNewWaypoint(¤t_waypoint[++currwptidx % 2]); |
rsavitski | 39:44d3dea4adcc | 37 | motion::clearWaypointReached(); |
rsavitski | 39:44d3dea4adcc | 38 | } |
madcowswe | 50:937e860f4621 | 39 | |
rsavitski | 30:791739422122 | 40 | } |
rsavitski | 39:44d3dea4adcc | 41 | motion::waypoint_flag_mutex.unlock(); |
rsavitski | 30:791739422122 | 42 | } |
rsavitski | 30:791739422122 | 43 | } |
rsavitski | 30:791739422122 | 44 | |
rsavitski | 30:791739422122 | 45 | } //namespace |