Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Eurobot_shared/ai/ai.h@15:acae5c0e9ca8, 2012-04-28 (annotated)
- Committer:
- narshu
- Date:
- Sat Apr 28 22:21:03 2012 +0000
- Revision:
- 15:acae5c0e9ca8
- Parent:
- 13:57ea4e520dbd
functioning motion control code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 4:7b7334441da9 | 1 | #ifndef AI_H |
narshu | 4:7b7334441da9 | 2 | #define AI_H |
narshu | 4:7b7334441da9 | 3 | |
narshu | 4:7b7334441da9 | 4 | #include "rtos.h" |
narshu | 4:7b7334441da9 | 5 | |
narshu | 4:7b7334441da9 | 6 | class AI { |
narshu | 4:7b7334441da9 | 7 | public: |
narshu | 4:7b7334441da9 | 8 | AI(); |
narshu | 4:7b7334441da9 | 9 | |
narshu | 4:7b7334441da9 | 10 | Mutex targetlock; |
narshu | 4:7b7334441da9 | 11 | Thread thr_AI; |
narshu | 4:7b7334441da9 | 12 | |
narshu | 4:7b7334441da9 | 13 | struct Target { |
narshu | 4:7b7334441da9 | 14 | float x; |
narshu | 4:7b7334441da9 | 15 | float y; |
narshu | 4:7b7334441da9 | 16 | float theta; |
narshu | 4:7b7334441da9 | 17 | bool facing; |
narshu | 15:acae5c0e9ca8 | 18 | bool reached; |
narshu | 4:7b7334441da9 | 19 | } target; |
narshu | 4:7b7334441da9 | 20 | |
narshu | 4:7b7334441da9 | 21 | void settarget(float targetX, float targetY, float targetTheta, bool targetfacing = true); |
narshu | 4:7b7334441da9 | 22 | void settarget(Target); |
narshu | 4:7b7334441da9 | 23 | Target gettarget(); |
narshu | 4:7b7334441da9 | 24 | |
narshu | 4:7b7334441da9 | 25 | bool flag_terminate;// = false; |
narshu | 4:7b7334441da9 | 26 | |
narshu | 4:7b7334441da9 | 27 | private: |
narshu | 4:7b7334441da9 | 28 | |
narshu | 4:7b7334441da9 | 29 | void ai_thread (); |
narshu | 4:7b7334441da9 | 30 | static void aithreadwrapper(void const *arg){ ((AI*)arg)->ai_thread(); } |
narshu | 4:7b7334441da9 | 31 | |
narshu | 4:7b7334441da9 | 32 | }; |
narshu | 4:7b7334441da9 | 33 | |
narshu | 4:7b7334441da9 | 34 | #endif //AI_H |