2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/AI/ai.cpp
- Revision:
- 89:dfe8c2ec5b88
- Parent:
- 88:8850373c3f0d
- Child:
- 90:e4164bb8c60e
diff -r 8850373c3f0d -r dfe8c2ec5b88 Processes/AI/ai.cpp --- a/Processes/AI/ai.cpp Tue Apr 16 12:55:10 2013 +0000 +++ b/Processes/AI/ai.cpp Tue Apr 16 13:19:17 2013 +0000 @@ -79,7 +79,7 @@ motion::waypoint_flag_mutex.unlock(); Thread::signal_wait(0x1); //wait until wp reached - Waypoint approach_wp = {2.2, 1.83/*1.85*/, (-3.0f/4.0f)*PI, 0.03, 0.05*PI, 32}; + Waypoint approach_wp = {2.24, 1.83/*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(); @@ -118,6 +118,10 @@ bot_target_phi -= 15.0/180*PI; } + // hack + if (own_colour==BLUE && i==0) + continue; + // set new wp mutable_cake_wp.x = 1.5-r*cos(phi); mutable_cake_wp.y = 2-r*sin(phi);