Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/AI/ai.cpp@69:4b7bb92916da, 2013-04-14 (annotated)

Committer:
rsavitski
Date:
Sun Apr 14 20:23:07 2013 +0000
Revision:
69:4b7bb92916da
Parent:
67:be3ea5450cc7
Parent:
68:662164480f60
Child:
70:0da6ca845762
test ai aux hack

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rsavitski 30:791739422122 1 #include "ai.h"
rsavitski 55:0c8897da6b3a 2 #include "rtos.h"
rsavitski 55:0c8897da6b3a 3 #include "globals.h"
rsavitski 55:0c8897da6b3a 4 #include "motion.h"
rsavitski 55:0c8897da6b3a 5 #include "Colour.h"
rsavitski 55:0c8897da6b3a 6 #include "supportfuncs.h"
rsavitski 65:4709ff6c753c 7 #include "Arm.h"
rsavitski 55:0c8897da6b3a 8
rsavitski 69:4b7bb92916da 9 //TODO: after 2013, kill entire AI layer as it is hacked together. Rest is fine-ish
rsavitski 30:791739422122 10
rsavitski 30:791739422122 11 namespace AI
rsavitski 30:791739422122 12 {
rsavitski 30:791739422122 13
rsavitski 69:4b7bb92916da 14 bool delayed_done = true; //TODO: kill
rsavitski 69:4b7bb92916da 15
rsavitski 69:4b7bb92916da 16 struct delayed_struct //TODO: kill
rsavitski 69:4b7bb92916da 17 {
rsavitski 69:4b7bb92916da 18 osThreadId tid;
rsavitski 69:4b7bb92916da 19 Waypoint *wpptr;
rsavitski 69:4b7bb92916da 20 };
rsavitski 69:4b7bb92916da 21
rsavitski 69:4b7bb92916da 22 void delayed_setter(const void *tid_wpptr); //TODO: kill the hack
rsavitski 69:4b7bb92916da 23
rsavitski 30:791739422122 24 void ailayer(void const *dummy)
rsavitski 30:791739422122 25 {
rsavitski 54:99d3158c9207 26 Waypoint current_waypoint;
rsavitski 69:4b7bb92916da 27
madcowswe 50:937e860f4621 28 Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER, UPPER);
madcowswe 50:937e860f4621 29 Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER, LOWER);
rsavitski 55:0c8897da6b3a 30
rsavitski 69:4b7bb92916da 31 // first waypoint for approach
rsavitski 54:99d3158c9207 32 current_waypoint.x = 2.2;
rsavitski 54:99d3158c9207 33 current_waypoint.y = 1.85;
madcowswe 67:be3ea5450cc7 34 current_waypoint.theta = (-3.0f/4.0f)*PI;
madcowswe 67:be3ea5450cc7 35 current_waypoint.pos_threshold = 0.03;
rsavitski 54:99d3158c9207 36 current_waypoint.angle_threshold = 0.02*PI;
rsavitski 69:4b7bb92916da 37
madcowswe 66:f1d75e51398d 38 motion::collavoiden = 1;
rsavitski 69:4b7bb92916da 39 motion::setNewWaypoint(Thread::gettid(),&current_waypoint);
rsavitski 55:0c8897da6b3a 40
rsavitski 68:662164480f60 41 float r = 0.61+0.02+0.01;
rsavitski 53:b013df99b747 42
madcowswe 66:f1d75e51398d 43 bool firstavoidstop = 1;
rsavitski 69:4b7bb92916da 44 delayed_struct ds = {Thread::gettid(),&current_waypoint};
rsavitski 69:4b7bb92916da 45
rsavitski 54:99d3158c9207 46 for (float phi=(180-11.25)/180*PI; phi > 11.25/180*PI;)
rsavitski 30:791739422122 47 {
rsavitski 39:44d3dea4adcc 48 motion::waypoint_flag_mutex.lock();
rsavitski 69:4b7bb92916da 49 if (motion::checkMotionStatus() && (c_upper.getColour()==RED || firstavoidstop) && delayed_done)
rsavitski 30:791739422122 50 {
rsavitski 65:4709ff6c753c 51 //temphack!!!!!
rsavitski 69:4b7bb92916da 52 //Thread::wait(1000);
rsavitski 65:4709ff6c753c 53 arm::upper_arm.go_down();
rsavitski 69:4b7bb92916da 54 delayed_done = false;
rsavitski 69:4b7bb92916da 55 RtosTimer delayed_wp_set(delayed_setter, osTimerOnce, (void *)&ds);
rsavitski 69:4b7bb92916da 56 //Thread::wait(2000);
rsavitski 69:4b7bb92916da 57 //arm::upper_arm.go_up();
rsavitski 65:4709ff6c753c 58
rsavitski 54:99d3158c9207 59 phi -= 22.5/180*PI;
rsavitski 54:99d3158c9207 60 current_waypoint.x = 1.5-r*cos(phi);
rsavitski 54:99d3158c9207 61 current_waypoint.y = 2-r*sin(phi);
rsavitski 54:99d3158c9207 62 current_waypoint.theta = constrainAngle(phi+PI/2);
rsavitski 56:ed585a82092b 63
rsavitski 56:ed585a82092b 64 //arm offset
rsavitski 56:ed585a82092b 65 current_waypoint.x += 0.0425*cos(current_waypoint.theta);
rsavitski 56:ed585a82092b 66 current_waypoint.y += 0.0425*sin(current_waypoint.theta);
madcowswe 67:be3ea5450cc7 67
madcowswe 67:be3ea5450cc7 68 current_waypoint.pos_threshold = 0.01;
madcowswe 67:be3ea5450cc7 69 current_waypoint.angle_threshold = 0.01*PI;
rsavitski 57:d434ceab6892 70
rsavitski 69:4b7bb92916da 71 //motion::setNewWaypoint(Thread::gettid(),&current_waypoint);
rsavitski 69:4b7bb92916da 72 if (firstavoidstop)
rsavitski 69:4b7bb92916da 73 {
madcowswe 66:f1d75e51398d 74 motion::collavoiden = 0;
madcowswe 66:f1d75e51398d 75 firstavoidstop = 0;
madcowswe 66:f1d75e51398d 76 }
madcowswe 66:f1d75e51398d 77 else
madcowswe 66:f1d75e51398d 78 motion::collavoiden = 1;
rsavitski 30:791739422122 79 }
rsavitski 54:99d3158c9207 80 motion::waypoint_flag_mutex.unlock();
rsavitski 54:99d3158c9207 81
rsavitski 54:99d3158c9207 82 Thread::wait(50);
rsavitski 30:791739422122 83 }
rsavitski 30:791739422122 84 }
rsavitski 30:791739422122 85
rsavitski 69:4b7bb92916da 86 void delayed_setter(const void *tid_wpptr) //TODO: kill the hack
rsavitski 69:4b7bb92916da 87 {
rsavitski 69:4b7bb92916da 88 delayed_struct *dsptr = (delayed_struct *)tid_wpptr;
rsavitski 69:4b7bb92916da 89 arm::upper_arm.go_up();
rsavitski 69:4b7bb92916da 90 motion::setNewWaypoint(dsptr->tid,dsptr->wpptr);
rsavitski 69:4b7bb92916da 91 delayed_done = true;
rsavitski 69:4b7bb92916da 92 }
rsavitski 69:4b7bb92916da 93
rsavitski 30:791739422122 94 } //namespace