Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Diff: Processes/AI/ai.cpp

Revision:
56:ed585a82092b
Parent:
55:0c8897da6b3a
Child:
57:d434ceab6892
--- a/Processes/AI/ai.cpp	Fri Apr 12 22:00:32 2013 +0000
+++ b/Processes/AI/ai.cpp	Sat Apr 13 19:01:45 2013 +0000
@@ -35,6 +35,11 @@
             current_waypoint.x = 1.5-r*cos(phi);
             current_waypoint.y = 2-r*sin(phi);
             current_waypoint.theta = constrainAngle(phi+PI/2);
+            
+            //arm offset
+            current_waypoint.x += 0.0425*cos(current_waypoint.theta);
+            current_waypoint.y += 0.0425*sin(current_waypoint.theta);
+            
             motion::clearWaypointReached();
             motion::setNewWaypoint(&current_waypoint);
         }