Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Eurobot_shared/ai/ai.cpp@13:57ea4e520dbd, 2012-04-28 (annotated)
- Committer:
- narshu
- Date:
- Sat Apr 28 19:39:08 2012 +0000
- Revision:
- 13:57ea4e520dbd
- Parent:
- 9:377560539b74
- Child:
- 14:24f994dc2770
PID tuned. Modified ai signalling logic at target location.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 9:377560539b74 | 1 | |
narshu | 9:377560539b74 | 2 | #include "ai.h" |
narshu | 9:377560539b74 | 3 | #include "rtos.h" |
narshu | 9:377560539b74 | 4 | #include "globals.h" |
narshu | 9:377560539b74 | 5 | |
narshu | 9:377560539b74 | 6 | AI::AI() : |
narshu | 9:377560539b74 | 7 | thr_AI(aithreadwrapper,this,osPriorityNormal,1024) { |
narshu | 13:57ea4e520dbd | 8 | targetnumber = 0; |
narshu | 9:377560539b74 | 9 | flag_terminate = false; |
narshu | 9:377560539b74 | 10 | //printf("aistart\r\n"); |
narshu | 9:377560539b74 | 11 | } |
narshu | 9:377560539b74 | 12 | |
narshu | 9:377560539b74 | 13 | void AI::settarget(float targetX, float targetY, float targetTheta, bool targetfacing) { |
narshu | 9:377560539b74 | 14 | targetlock.lock(); |
narshu | 9:377560539b74 | 15 | target.x = targetX; |
narshu | 9:377560539b74 | 16 | target.y = targetY; |
narshu | 9:377560539b74 | 17 | target.theta = targetTheta; |
narshu | 9:377560539b74 | 18 | target.facing = targetfacing; |
narshu | 13:57ea4e520dbd | 19 | targetnumber++; |
narshu | 9:377560539b74 | 20 | targetlock.unlock(); |
narshu | 9:377560539b74 | 21 | } |
narshu | 9:377560539b74 | 22 | |
narshu | 9:377560539b74 | 23 | void AI::settarget(Target targetin) { |
narshu | 9:377560539b74 | 24 | targetlock.lock(); |
narshu | 9:377560539b74 | 25 | target = targetin; |
narshu | 13:57ea4e520dbd | 26 | targetnumber++; |
narshu | 9:377560539b74 | 27 | targetlock.unlock(); |
narshu | 9:377560539b74 | 28 | } |
narshu | 9:377560539b74 | 29 | |
narshu | 9:377560539b74 | 30 | AI::Target AI::gettarget() { |
narshu | 9:377560539b74 | 31 | targetlock.lock(); |
narshu | 9:377560539b74 | 32 | Target temptarget = target; |
narshu | 9:377560539b74 | 33 | targetlock.unlock(); |
narshu | 9:377560539b74 | 34 | return temptarget; |
narshu | 9:377560539b74 | 35 | } |