Diff: Processes/AI/ai.cpp

Revision:

52:bffe5f7c39a3

Parent:

39:44d3dea4adcc

Child:

53:b013df99b747

--- a/Processes/AI/ai.cpp	Thu Apr 11 18:49:11 2013 +0000
+++ b/Processes/AI/ai.cpp	Fri Apr 12 17:29:38 2013 +0000
@@ -22,19 +22,19 @@
     current_waypoint[2].x = -999;
 */
 
-    current_waypoint[0].x = 0.5;
-    current_waypoint[0].y = 1.85;
-    current_waypoint[0].theta = 0.0;
-    current_waypoint[0].pos_threshold = 0.05;
-    current_waypoint[0].angle_threshold = 0.05*PI;
+    current_waypoint[0].x = 1.5;
+    current_waypoint[0].y = 1.29;
+    current_waypoint[0].theta = PI;
+    current_waypoint[0].pos_threshold = 0.02;
+    current_waypoint[0].angle_threshold = 0.02*PI;
 
-    current_waypoint[1].x = 1.2;
+    //current_waypoint[1].x = 1.2;
     current_waypoint[1].y = 0.18;
     current_waypoint[1].theta = 0;
     current_waypoint[1].pos_threshold = 0.01;
     current_waypoint[1].angle_threshold = 0.00001;
 
-    current_waypoint[2].x = -999;
+    current_waypoint[1].x = -999;
 /*
     //TODO: temp current waypoint hack
     current_waypoint = new Waypoint;
@@ -51,6 +51,7 @@
     secondwp->pos_threshold = 0.01;
     secondwp->angle_threshold = 0.00001;
 */    
+    current_waypoint++;
     motion::setNewWaypoint(current_waypoint);
     while(1)
     {