Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

Processes/AI/ai.cpp@49:665bdca0f2cd, 2013-04-12 (annotated)

Committer:
madcowswe
Date:
Fri Apr 12 21:07:00 2013 +0000
Revision:
49:665bdca0f2cd
Parent:
39:44d3dea4adcc
Child:
50:937e860f4621
Kalman online phase estimation works but is SOOO hacked together

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rsavitski 30:791739422122 1 #include "ai.h"
rsavitski 30:791739422122 2
rsavitski 30:791739422122 3 namespace AI
rsavitski 30:791739422122 4 {
rsavitski 30:791739422122 5
rsavitski 30:791739422122 6 void ailayer(void const *dummy)
rsavitski 30:791739422122 7 {
rsavitski 39:44d3dea4adcc 8 Waypoint *current_waypoint = new Waypoint[5];
rsavitski 39:44d3dea4adcc 9 /*
rsavitski 38:c9058a401410 10 current_waypoint[0].x = 1;
rsavitski 38:c9058a401410 11 current_waypoint[0].y = 1;
rsavitski 38:c9058a401410 12 current_waypoint[0].theta = 0.0;
rsavitski 38:c9058a401410 13 current_waypoint[0].pos_threshold = 0.05;
rsavitski 38:c9058a401410 14 current_waypoint[0].angle_threshold = 0.05*PI;
rsavitski 38:c9058a401410 15
rsavitski 38:c9058a401410 16 current_waypoint[1].x = 2.2;
rsavitski 38:c9058a401410 17 current_waypoint[1].y = 1.5;
rsavitski 38:c9058a401410 18 current_waypoint[1].theta = PI/2;
rsavitski 38:c9058a401410 19 current_waypoint[1].pos_threshold = 0.05;
rsavitski 38:c9058a401410 20 current_waypoint[1].angle_threshold = 0.05*PI;
rsavitski 38:c9058a401410 21
rsavitski 38:c9058a401410 22 current_waypoint[2].x = -999;
rsavitski 39:44d3dea4adcc 23 */
rsavitski 38:c9058a401410 24
rsavitski 39:44d3dea4adcc 25 current_waypoint[0].x = 0.5;
madcowswe 49:665bdca0f2cd 26 current_waypoint[0].y = 0.5;
rsavitski 39:44d3dea4adcc 27 current_waypoint[0].theta = 0.0;
rsavitski 39:44d3dea4adcc 28 current_waypoint[0].pos_threshold = 0.05;
rsavitski 39:44d3dea4adcc 29 current_waypoint[0].angle_threshold = 0.05*PI;
rsavitski 39:44d3dea4adcc 30
madcowswe 49:665bdca0f2cd 31 current_waypoint[1].x = 2.5;
madcowswe 49:665bdca0f2cd 32 current_waypoint[1].y = 0.5;
rsavitski 39:44d3dea4adcc 33 current_waypoint[1].theta = 0;
madcowswe 49:665bdca0f2cd 34 current_waypoint[1].pos_threshold = 0.05;
madcowswe 49:665bdca0f2cd 35 current_waypoint[1].angle_threshold = 0.05*PI;
rsavitski 39:44d3dea4adcc 36
rsavitski 39:44d3dea4adcc 37 current_waypoint[2].x = -999;
rsavitski 38:c9058a401410 38 /*
rsavitski 30:791739422122 39 //TODO: temp current waypoint hack
rsavitski 30:791739422122 40 current_waypoint = new Waypoint;
rsavitski 30:791739422122 41 current_waypoint->x = 0.5;
rsavitski 30:791739422122 42 current_waypoint->y = 0.7;
rsavitski 30:791739422122 43 current_waypoint->theta = 0.0;
rsavitski 30:791739422122 44 current_waypoint->pos_threshold = 0.05;
rsavitski 38:c9058a401410 45 current_waypoint->angle_threshold = 0.05*PI;
rsavitski 30:791739422122 46
rsavitski 30:791739422122 47 Waypoint* secondwp = new Waypoint;
rsavitski 38:c9058a401410 48 secondwp->x = 1.20;
rsavitski 38:c9058a401410 49 secondwp->y = 0.18;
rsavitski 30:791739422122 50 secondwp->theta = PI;
rsavitski 38:c9058a401410 51 secondwp->pos_threshold = 0.01;
rsavitski 38:c9058a401410 52 secondwp->angle_threshold = 0.00001;
rsavitski 38:c9058a401410 53 */
rsavitski 39:44d3dea4adcc 54 motion::setNewWaypoint(current_waypoint);
madcowswe 49:665bdca0f2cd 55
madcowswe 49:665bdca0f2cd 56 int currwptidx = 0;
rsavitski 30:791739422122 57 while(1)
rsavitski 30:791739422122 58 {
rsavitski 35:f8e7f0a72a3d 59 Thread::wait(50);
rsavitski 30:791739422122 60
rsavitski 39:44d3dea4adcc 61 motion::waypoint_flag_mutex.lock();
rsavitski 39:44d3dea4adcc 62 if (motion::checkWaypointStatus())
rsavitski 30:791739422122 63 {
rsavitski 39:44d3dea4adcc 64
madcowswe 49:665bdca0f2cd 65 motion::setNewWaypoint(&current_waypoint[++currwptidx % 2]);
madcowswe 49:665bdca0f2cd 66 motion::clearWaypointReached();
rsavitski 30:791739422122 67 }
rsavitski 39:44d3dea4adcc 68 motion::waypoint_flag_mutex.unlock();
rsavitski 30:791739422122 69 }
rsavitski 30:791739422122 70 }
rsavitski 30:791739422122 71
rsavitski 30:791739422122 72 } //namespace