Revision 53:b013df99b747, committed 2013-04-12

Comitter:

rsavitski

Date:

Fri Apr 12 18:22:53 2013 +0000

Parent:

52:bffe5f7c39a3

Child:

54:99d3158c9207

Commit message:

waypoints with reversing, motion API still hacky

Changed in this revision

--- a/Processes/AI/ai.cpp	Fri Apr 12 17:29:38 2013 +0000
+++ b/Processes/AI/ai.cpp	Fri Apr 12 18:22:53 2013 +0000
@@ -22,19 +22,19 @@
     current_waypoint[2].x = -999;
 */
 
-    current_waypoint[0].x = 1.5;
-    current_waypoint[0].y = 1.29;
+    current_waypoint[0].x = 1.8;
+    current_waypoint[0].y = 1.39;
     current_waypoint[0].theta = PI;
-    current_waypoint[0].pos_threshold = 0.02;
-    current_waypoint[0].angle_threshold = 0.02*PI;
+    current_waypoint[0].pos_threshold = 0.03;
+    current_waypoint[0].angle_threshold = 0.05*PI;
 
-    //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[1].x = 1.5;
+    current_waypoint[1].y = 1.39;
+    current_waypoint[1].theta = PI;
+    current_waypoint[1].pos_threshold = 0.03;
+    current_waypoint[1].angle_threshold = 0.05*PI;
 
-    current_waypoint[1].x = -999;
+    current_waypoint[2].x = -999;
 /*
     //TODO: temp current waypoint hack
     current_waypoint = new Waypoint;
@@ -51,7 +51,7 @@
     secondwp->pos_threshold = 0.01;
     secondwp->angle_threshold = 0.00001;
 */    
-    current_waypoint++;
+
     motion::setNewWaypoint(current_waypoint);
     while(1)
     {