Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

Dependencies:   mbed Eurobot_2012_Primary

Eurobot_shared/ai/ai.cpp@26:0995f61cb7b8, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:22:47 2012 +0000
Revision:
26:0995f61cb7b8
Eurobot 2012 Primary;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 26:0995f61cb7b8 1 #include "ai.h"
narshu 26:0995f61cb7b8 2 #include "rtos.h"
narshu 26:0995f61cb7b8 3 #include "globals.h"
narshu 26:0995f61cb7b8 4
narshu 26:0995f61cb7b8 5
narshu 26:0995f61cb7b8 6
narshu 26:0995f61cb7b8 7 AI::AI() :
narshu 26:0995f61cb7b8 8 thr_AI(aithreadwrapper,this,osPriorityNormal,1024) {
narshu 26:0995f61cb7b8 9 flag_terminate = false;
narshu 26:0995f61cb7b8 10 flag_motorStop = true;
narshu 26:0995f61cb7b8 11 flag_manOverride = false;
narshu 26:0995f61cb7b8 12 //printf("aistart\r\n");
narshu 26:0995f61cb7b8 13 }
narshu 26:0995f61cb7b8 14
narshu 26:0995f61cb7b8 15
narshu 26:0995f61cb7b8 16 void AI::settarget(float targetX, float targetY, float targetTheta, bool targetfacing, bool colour, int maxSpeed) {
narshu 26:0995f61cb7b8 17 targetlock.lock();
narshu 26:0995f61cb7b8 18 MOVE_SPEED = maxSpeed;
narshu 26:0995f61cb7b8 19 target.x = targetX;
narshu 26:0995f61cb7b8 20 target.y = targetY;
narshu 26:0995f61cb7b8 21 target.theta = targetTheta;
narshu 26:0995f61cb7b8 22 target.facing = targetfacing;
narshu 26:0995f61cb7b8 23 target.reached = false;
narshu 26:0995f61cb7b8 24 if (!colour) {
narshu 26:0995f61cb7b8 25 target.x = 3000 - target.x;
narshu 26:0995f61cb7b8 26 target.theta = PI - target.theta;
narshu 26:0995f61cb7b8 27
narshu 26:0995f61cb7b8 28 target.theta -= (floor(target.theta/(2*PI)))*2*PI;
narshu 26:0995f61cb7b8 29 if (target.theta < -PI) {
narshu 26:0995f61cb7b8 30 target.theta += 2*PI;
narshu 26:0995f61cb7b8 31 }
narshu 26:0995f61cb7b8 32 if (target.theta > PI) {
narshu 26:0995f61cb7b8 33 target.theta -= 2*PI;
narshu 26:0995f61cb7b8 34 }
narshu 26:0995f61cb7b8 35
narshu 26:0995f61cb7b8 36
narshu 26:0995f61cb7b8 37 }
narshu 26:0995f61cb7b8 38 targetlock.unlock();
narshu 26:0995f61cb7b8 39 }
narshu 26:0995f61cb7b8 40
narshu 26:0995f61cb7b8 41 void AI::settarget(Target targetin) {
narshu 26:0995f61cb7b8 42 targetlock.lock();
narshu 26:0995f61cb7b8 43 target = targetin;
narshu 26:0995f61cb7b8 44 targetlock.unlock();
narshu 26:0995f61cb7b8 45 }
narshu 26:0995f61cb7b8 46
narshu 26:0995f61cb7b8 47 AI::Target AI::gettarget() {
narshu 26:0995f61cb7b8 48 targetlock.lock();
narshu 26:0995f61cb7b8 49 Target temptarget = target;
narshu 26:0995f61cb7b8 50 targetlock.unlock();
narshu 26:0995f61cb7b8 51 return temptarget;
narshu 26:0995f61cb7b8 52 }