2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/AI/ai.cpp
- Revision:
- 90:e4164bb8c60e
- Parent:
- 89:dfe8c2ec5b88
- Child:
- 91:fdadfd883825
--- a/Processes/AI/ai.cpp Tue Apr 16 13:19:17 2013 +0000 +++ b/Processes/AI/ai.cpp Wed Apr 17 23:16:25 2013 +0000 @@ -73,13 +73,21 @@ arm::lower_arm.go_up(); #ifdef TEAM_BLUE - Waypoint mid_wp = {1.8, 1, (1.0/4.0)*PI, 0.03, 0.05*PI, 32}; + + Waypoint mid_wp5 = {1.2, 1, 0, 0.10, 0.15*PI, 32}; + motion::waypoint_flag_mutex.lock(); + motion::setNewWaypoint(Thread::gettid(),&mid_wp5); + motion::waypoint_flag_mutex.unlock(); + Thread::signal_wait(0x1); //wait until wp reached + Thread::wait(3000); + + Waypoint mid_wp = {1.9, 1.1, (1.0/4.0)*PI, 0.03, 0.05*PI, 32}; motion::waypoint_flag_mutex.lock(); motion::setNewWaypoint(Thread::gettid(),&mid_wp); motion::waypoint_flag_mutex.unlock(); Thread::signal_wait(0x1); //wait until wp reached - Waypoint approach_wp = {2.24, 1.83/*1.85*/, (-3.0f/4.0f)*PI, 0.03, 0.05*PI, 32}; + Waypoint approach_wp = {2.24, 1.84/*1.85*/, (-3.0f/4.0f)*PI, 0.03, 0.05*PI, 32}; motion::waypoint_flag_mutex.lock(); motion::setNewWaypoint(Thread::gettid(),&approach_wp); motion::waypoint_flag_mutex.unlock();