Diff: Processes/Motion/motion.cpp

Revision:

81:ef1ce4f5322b

Parent:

77:8d83a0c00e66

Child:

85:b0858346d838

--- a/Processes/Motion/motion.cpp	Mon Apr 15 17:07:40 2013 +0000
+++ b/Processes/Motion/motion.cpp	Mon Apr 15 19:35:29 2013 +0000
@@ -4,6 +4,8 @@
 // Takes current state and motion command (set via accessors) and actuates it via motor layer calls
 ////////////////////////////////////////////////////////////////////////////////
 
+//todo: check everything is properly initialised and not a race condition
+
 #include "motion.h"
 #include "math.h"
 #include "Kalman.h"
@@ -97,7 +99,7 @@
     float angle_err_saved = angle_err; // actuated angle error can be overriden by the final turning code, but forward speed envelope should be controlled with the atan angle
     
     // is the waypoint reached
-    waypoint_flag_mutex.lock(); //TODO: consider refactoring
+    waypoint_flag_mutex.lock(); //TODO: consider refactoring, mutexes suck, switch to semaphore style or more contained mutexes (think of several producers as well); race conditions not checked atm either
     if (abs(distance_err) < ((wp_d_reached) ? target_waypoint.pos_threshold+0.02 : target_waypoint.pos_threshold))
     {
         wp_d_reached = true;