2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/AI/ai.cpp
- Revision:
- 70:0da6ca845762
- Parent:
- 69:4b7bb92916da
- Child:
- 74:9620d24a2f4e
- Child:
- 76:532d9bc1d2aa
--- a/Processes/AI/ai.cpp Sun Apr 14 20:23:07 2013 +0000 +++ b/Processes/AI/ai.cpp Sun Apr 14 22:02:21 2013 +0000 @@ -19,6 +19,8 @@ Waypoint *wpptr; }; +void arm_upper(const void *dummy); //TODO: kill + void delayed_setter(const void *tid_wpptr); //TODO: kill the hack void ailayer(void const *dummy) @@ -42,6 +44,8 @@ bool firstavoidstop = 1; delayed_struct ds = {Thread::gettid(),¤t_waypoint}; + RtosTimer delayed_wp_set(delayed_setter, osTimerOnce, (void *)&ds); + RtosTimer delayed_armer(arm_upper, osTimerOnce); for (float phi=(180-11.25)/180*PI; phi > 11.25/180*PI;) { @@ -52,7 +56,8 @@ //Thread::wait(1000); arm::upper_arm.go_down(); delayed_done = false; - RtosTimer delayed_wp_set(delayed_setter, osTimerOnce, (void *)&ds); + delayed_armer.start(1200); + delayed_wp_set.start(2400); //Thread::wait(2000); //arm::upper_arm.go_up(); @@ -83,10 +88,15 @@ } } +void arm_upper(const void *dummy) +{ + arm::upper_arm.go_up(); +} + void delayed_setter(const void *tid_wpptr) //TODO: kill the hack { delayed_struct *dsptr = (delayed_struct *)tid_wpptr; - arm::upper_arm.go_up(); + //arm::upper_arm.go_up(); motion::setNewWaypoint(dsptr->tid,dsptr->wpptr); delayed_done = true; }