Shuto Naruse / Mbed 2 deprecated Eurobot2012_Primary

Eurobot2012_Primary

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Show/hide line numbers ai.h Source File

ai.h

00001 #ifndef AI_H
00002 #define AI_H
00003 
00004 #include "rtos.h"
00005 //#include "Kalman.h"
00006 
00007 class AI {
00008 public:
00009 AI();
00010 
00011 Mutex targetlock;
00012 Thread thr_AI;
00013 
00014 struct Target {
00015     float x;
00016     float y;
00017     float theta;
00018     bool facing;
00019     bool reached;
00020 } target;
00021 
00022 void settarget(float targetX, float targetY, float targetTheta, bool targetfacing = true, bool colour = true, int maxSpeed = 35);
00023 void settarget(Target);
00024 Target gettarget();
00025 
00026 bool flag_terminate;// = false;
00027 bool flag_motorStop; // = true;
00028 bool flag_manOverride; // = false;
00029 
00030 private:
00031 
00032 void ai_thread ();
00033 static void aithreadwrapper(void const *arg){ ((AI*)arg)->ai_thread(); }
00034 
00035 };
00036 
00037 #endif //AI_H
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