Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/AI/ai.cpp@74:9620d24a2f4e, 2013-04-15 (annotated)

Committer:
madcowswe
Date:
Mon Apr 15 14:31:27 2013 +0000
Revision:
74:9620d24a2f4e
Parent:
70:0da6ca845762
Child:
78:3178a1e46146
added starting of motors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rsavitski 30:791739422122 1 #include "ai.h"
rsavitski 55:0c8897da6b3a 2 #include "rtos.h"
rsavitski 55:0c8897da6b3a 3 #include "globals.h"
rsavitski 55:0c8897da6b3a 4 #include "motion.h"
rsavitski 55:0c8897da6b3a 5 #include "Colour.h"
rsavitski 55:0c8897da6b3a 6 #include "supportfuncs.h"
rsavitski 65:4709ff6c753c 7 #include "Arm.h"
madcowswe 74:9620d24a2f4e 8 #include "MotorControl.h"
rsavitski 55:0c8897da6b3a 9
rsavitski 69:4b7bb92916da 10 //TODO: after 2013, kill entire AI layer as it is hacked together. Rest is fine-ish
rsavitski 30:791739422122 11
rsavitski 30:791739422122 12 namespace AI
rsavitski 30:791739422122 13 {
rsavitski 30:791739422122 14
rsavitski 69:4b7bb92916da 15 bool delayed_done = true; //TODO: kill
rsavitski 69:4b7bb92916da 16
rsavitski 69:4b7bb92916da 17 struct delayed_struct //TODO: kill
rsavitski 69:4b7bb92916da 18 {
rsavitski 69:4b7bb92916da 19 osThreadId tid;
rsavitski 69:4b7bb92916da 20 Waypoint *wpptr;
rsavitski 69:4b7bb92916da 21 };
rsavitski 69:4b7bb92916da 22
rsavitski 70:0da6ca845762 23 void arm_upper(const void *dummy); //TODO: kill
rsavitski 70:0da6ca845762 24
rsavitski 69:4b7bb92916da 25 void delayed_setter(const void *tid_wpptr); //TODO: kill the hack
rsavitski 69:4b7bb92916da 26
rsavitski 30:791739422122 27 void ailayer(void const *dummy)
rsavitski 30:791739422122 28 {
rsavitski 54:99d3158c9207 29 Waypoint current_waypoint;
rsavitski 69:4b7bb92916da 30
madcowswe 50:937e860f4621 31 Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER, UPPER);
madcowswe 50:937e860f4621 32 Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER, LOWER);
rsavitski 55:0c8897da6b3a 33
rsavitski 69:4b7bb92916da 34 // first waypoint for approach
rsavitski 54:99d3158c9207 35 current_waypoint.x = 2.2;
rsavitski 54:99d3158c9207 36 current_waypoint.y = 1.85;
madcowswe 67:be3ea5450cc7 37 current_waypoint.theta = (-3.0f/4.0f)*PI;
madcowswe 67:be3ea5450cc7 38 current_waypoint.pos_threshold = 0.03;
rsavitski 54:99d3158c9207 39 current_waypoint.angle_threshold = 0.02*PI;
rsavitski 69:4b7bb92916da 40
madcowswe 66:f1d75e51398d 41 motion::collavoiden = 1;
madcowswe 74:9620d24a2f4e 42 MotorControl::motorsenabled = 1;
rsavitski 69:4b7bb92916da 43 motion::setNewWaypoint(Thread::gettid(),&current_waypoint);
rsavitski 55:0c8897da6b3a 44
rsavitski 68:662164480f60 45 float r = 0.61+0.02+0.01;
rsavitski 53:b013df99b747 46
madcowswe 66:f1d75e51398d 47 bool firstavoidstop = 1;
rsavitski 69:4b7bb92916da 48 delayed_struct ds = {Thread::gettid(),&current_waypoint};
rsavitski 70:0da6ca845762 49 RtosTimer delayed_wp_set(delayed_setter, osTimerOnce, (void *)&ds);
rsavitski 70:0da6ca845762 50 RtosTimer delayed_armer(arm_upper, osTimerOnce);
rsavitski 69:4b7bb92916da 51
rsavitski 54:99d3158c9207 52 for (float phi=(180-11.25)/180*PI; phi > 11.25/180*PI;)
rsavitski 30:791739422122 53 {
rsavitski 39:44d3dea4adcc 54 motion::waypoint_flag_mutex.lock();
rsavitski 69:4b7bb92916da 55 if (motion::checkMotionStatus() && (c_upper.getColour()==RED || firstavoidstop) && delayed_done)
rsavitski 30:791739422122 56 {
rsavitski 65:4709ff6c753c 57 //temphack!!!!!
rsavitski 69:4b7bb92916da 58 //Thread::wait(1000);
rsavitski 65:4709ff6c753c 59 arm::upper_arm.go_down();
rsavitski 69:4b7bb92916da 60 delayed_done = false;
rsavitski 70:0da6ca845762 61 delayed_armer.start(1200);
rsavitski 70:0da6ca845762 62 delayed_wp_set.start(2400);
rsavitski 69:4b7bb92916da 63 //Thread::wait(2000);
rsavitski 69:4b7bb92916da 64 //arm::upper_arm.go_up();
rsavitski 65:4709ff6c753c 65
rsavitski 54:99d3158c9207 66 phi -= 22.5/180*PI;
rsavitski 54:99d3158c9207 67 current_waypoint.x = 1.5-r*cos(phi);
rsavitski 54:99d3158c9207 68 current_waypoint.y = 2-r*sin(phi);
rsavitski 54:99d3158c9207 69 current_waypoint.theta = constrainAngle(phi+PI/2);
rsavitski 56:ed585a82092b 70
rsavitski 56:ed585a82092b 71 //arm offset
rsavitski 56:ed585a82092b 72 current_waypoint.x += 0.0425*cos(current_waypoint.theta);
rsavitski 56:ed585a82092b 73 current_waypoint.y += 0.0425*sin(current_waypoint.theta);
madcowswe 67:be3ea5450cc7 74
madcowswe 67:be3ea5450cc7 75 current_waypoint.pos_threshold = 0.01;
madcowswe 67:be3ea5450cc7 76 current_waypoint.angle_threshold = 0.01*PI;
rsavitski 57:d434ceab6892 77
rsavitski 69:4b7bb92916da 78 //motion::setNewWaypoint(Thread::gettid(),&current_waypoint);
rsavitski 69:4b7bb92916da 79 if (firstavoidstop)
rsavitski 69:4b7bb92916da 80 {
madcowswe 66:f1d75e51398d 81 motion::collavoiden = 0;
madcowswe 66:f1d75e51398d 82 firstavoidstop = 0;
madcowswe 66:f1d75e51398d 83 }
madcowswe 66:f1d75e51398d 84 else
madcowswe 66:f1d75e51398d 85 motion::collavoiden = 1;
rsavitski 30:791739422122 86 }
rsavitski 54:99d3158c9207 87 motion::waypoint_flag_mutex.unlock();
rsavitski 54:99d3158c9207 88
rsavitski 54:99d3158c9207 89 Thread::wait(50);
rsavitski 30:791739422122 90 }
rsavitski 30:791739422122 91 }
rsavitski 30:791739422122 92
rsavitski 70:0da6ca845762 93 void arm_upper(const void *dummy)
rsavitski 70:0da6ca845762 94 {
rsavitski 70:0da6ca845762 95 arm::upper_arm.go_up();
rsavitski 70:0da6ca845762 96 }
rsavitski 70:0da6ca845762 97
rsavitski 69:4b7bb92916da 98 void delayed_setter(const void *tid_wpptr) //TODO: kill the hack
rsavitski 69:4b7bb92916da 99 {
rsavitski 69:4b7bb92916da 100 delayed_struct *dsptr = (delayed_struct *)tid_wpptr;
rsavitski 70:0da6ca845762 101 //arm::upper_arm.go_up();
rsavitski 69:4b7bb92916da 102 motion::setNewWaypoint(dsptr->tid,dsptr->wpptr);
rsavitski 69:4b7bb92916da 103 delayed_done = true;
rsavitski 69:4b7bb92916da 104 }
rsavitski 69:4b7bb92916da 105
rsavitski 30:791739422122 106 } //namespace