Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

Dependencies:   mbed Eurobot_2012_Primary

Eurobot_shared/ai/ai.cpp

Committer:
narshu
Date:
2012-04-28
Revision:
9:377560539b74
Child:
13:57ea4e520dbd

File content as of revision 9:377560539b74:


#include "ai.h"
#include "rtos.h"
#include "globals.h"

AI::AI() :
        thr_AI(aithreadwrapper,this,osPriorityNormal,1024) {
    flag_terminate = false;
    //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;
    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;
}