2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/AI/ai.cpp
- Revision:
- 38:c9058a401410
- Parent:
- 37:6ecf0d21e492
- Child:
- 39:44d3dea4adcc
diff -r 6ecf0d21e492 -r c9058a401410 Processes/AI/ai.cpp --- a/Processes/AI/ai.cpp Wed Apr 10 20:44:29 2013 +0000 +++ b/Processes/AI/ai.cpp Wed Apr 10 22:30:09 2013 +0000 @@ -11,21 +11,38 @@ void ailayer(void const *dummy) { + current_waypoint = new Waypoint[5]; + + current_waypoint[0].x = 1; + current_waypoint[0].y = 1; + current_waypoint[0].theta = 0.0; + current_waypoint[0].pos_threshold = 0.05; + current_waypoint[0].angle_threshold = 0.05*PI; + + current_waypoint[1].x = 2.2; + current_waypoint[1].y = 1.5; + current_waypoint[1].theta = PI/2; + current_waypoint[1].pos_threshold = 0.05; + current_waypoint[1].angle_threshold = 0.05*PI; + + current_waypoint[2].x = -999; + +/* //TODO: temp current waypoint hack current_waypoint = new Waypoint; current_waypoint->x = 0.5; current_waypoint->y = 0.7; current_waypoint->theta = 0.0; current_waypoint->pos_threshold = 0.05; - current_waypoint->angle_threshold = 0.1*PI; + current_waypoint->angle_threshold = 0.05*PI; Waypoint* secondwp = new Waypoint; - secondwp->x = 2; - secondwp->y = 1.2; + secondwp->x = 1.20; + secondwp->y = 0.18; secondwp->theta = PI; - secondwp->pos_threshold = 0.05; - secondwp->angle_threshold = 0.1*PI; - + secondwp->pos_threshold = 0.01; + secondwp->angle_threshold = 0.00001; +*/ while(1) { @@ -35,8 +52,8 @@ if (checkWaypointStatus()) { clearWaypointReached(); - //delete current_waypoint; - current_waypoint = secondwp; + if ((current_waypoint+1)->x != -999) + current_waypoint++; } waypoint_flag_mutex.unlock(); }