Diff: Eurobot_shared/ai/ai.cpp

Revision:

22:7ba09c0af0d0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Eurobot_shared/ai/ai.cpp	Thu May 03 14:20:04 2012 +0000
@@ -0,0 +1,34 @@
+
+#include "ai.h"
+#include "rtos.h"
+#include "globals.h"
+
+AI::AI() :
+        thr_AI(aithreadwrapper,this,osPriorityNormal,1024) {
+    flag_terminate = false;
+    flag_motorStop = true;
+    //printf("aistart\r\n");
+}
+
+void AI::settarget(float targetX, float targetY, float targetTheta, bool targetfacing) {
+    targetlock.lock();
+    target.x = targetX;
+    target.y = targetY;
+    target.theta = targetTheta;
+    target.facing = targetfacing;
+    target.reached = false;
+    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