Diff: Eurobot_shared/ai/ai.cpp

Revision:

25:143b19c1fb05

Parent:

24:7a3906c2f5d5

Child:

26:0995f61cb7b8

--- a/Eurobot_shared/ai/ai.cpp	Fri May 04 05:23:45 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,52 +0,0 @@
-#include "ai.h"
-#include "rtos.h"
-#include "globals.h"
-
-
-
-AI::AI() :
-    thr_AI(aithreadwrapper,this,osPriorityNormal,1024) {
-    flag_terminate = false;
-    flag_motorStop = true;
-    flag_manOverride = false;
-    //printf("aistart\r\n");
-}
-
-
-void AI::settarget(float targetX, float targetY, float targetTheta, bool targetfacing, bool colour, int maxSpeed ) {
-    targetlock.lock();
-    //MOVE_SPEED = maxSpeed;
-    target.x = targetX;
-    target.y = targetY;
-    target.theta = targetTheta;
-    target.facing = targetfacing;
-    target.reached = false;
-    if (!colour) {
-        target.x = 3000 - target.x;
-        target.theta = PI - target.theta;
-
-        target.theta -= (floor(target.theta/(2*PI)))*2*PI;
-        if (target.theta < -PI) {
-            target.theta += 2*PI;
-        }
-        if (target.theta > PI) {
-            target.theta -= 2*PI;
-        }
-
-
-    }
-    targetlock.unlock();
-}
-
-void AI::settarget(Target targetin) {
-    targetlock.lock();
-    target = targetin;
-    targetlock.unlock();
-}
-
-AI::Target AI::gettarget() {
-    targetlock.lock();
-    Target temptarget = target;
-    targetlock.unlock();
-    return temptarget;
-}
\ No newline at end of file