Diff: main.cpp

Revision:

32:e3f633620816

Parent:

31:ada943ecaceb

Parent:

30:791739422122

Child:

41:26e5f24b55b3

--- a/main.cpp	Wed Apr 10 18:04:47 2013 +0000
+++ b/main.cpp	Wed Apr 10 18:25:16 2013 +0000
@@ -13,6 +13,7 @@
 #include "motion.h"
 #include "MotorControl.h"
 #include "system.h"
+#include "ai.h"
 
 void motortest();
 void encodertest();
@@ -63,15 +64,6 @@
     Serial pc(USBTX, USBRX);
     pc.baud(115200);
     
-    using AI::current_waypoint;
-    
-    current_waypoint = new Waypoint;
-    current_waypoint->x = 0.5;
-    current_waypoint->y = 0.7;
-    current_waypoint->theta = 0.0;
-    current_waypoint->pos_threshold = 0.02;
-    current_waypoint->angle_threshold = 0.09;
-    
     InitSerial();
     //while(1)
     //    printbuff();
@@ -83,8 +75,11 @@
     
     Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084);
     
-    //Ticker motorcontroltestticker;
-    //motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
+    Ticker motorcontroltestticker;
+    motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
+
+    // ai layer thread
+    Thread aithread(AI::ailayer, NULL, osPriorityNormal, 2048);
     
     // motion layer periodic callback
     RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic);