Shuto Naruse / Mbed 2 deprecated Eurobot2012_Secondary

Eurobot2012_Secondary

Fork of Eurobot_2012_Secondary by Shuto Naruse

Eurobot_shared/ai/ai.h@1:cc2a9eb0bd55, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:25:31 2012 +0000
Revision:
1:cc2a9eb0bd55
Commit before publishing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 1:cc2a9eb0bd55 1 #ifndef AI_H
narshu 1:cc2a9eb0bd55 2 #define AI_H
narshu 1:cc2a9eb0bd55 3
narshu 1:cc2a9eb0bd55 4 #include "rtos.h"
narshu 1:cc2a9eb0bd55 5 //#include "Kalman.h"
narshu 1:cc2a9eb0bd55 6
narshu 1:cc2a9eb0bd55 7 class AI {
narshu 1:cc2a9eb0bd55 8 public:
narshu 1:cc2a9eb0bd55 9 AI();
narshu 1:cc2a9eb0bd55 10
narshu 1:cc2a9eb0bd55 11 Mutex targetlock;
narshu 1:cc2a9eb0bd55 12 Thread thr_AI;
narshu 1:cc2a9eb0bd55 13
narshu 1:cc2a9eb0bd55 14 struct Target {
narshu 1:cc2a9eb0bd55 15 float x;
narshu 1:cc2a9eb0bd55 16 float y;
narshu 1:cc2a9eb0bd55 17 float theta;
narshu 1:cc2a9eb0bd55 18 bool facing;
narshu 1:cc2a9eb0bd55 19 bool reached;
narshu 1:cc2a9eb0bd55 20 } target;
narshu 1:cc2a9eb0bd55 21
narshu 1:cc2a9eb0bd55 22 void settarget(float targetX, float targetY, float targetTheta, bool targetfacing = true, bool colour = true, int maxSpeed = 35);
narshu 1:cc2a9eb0bd55 23 void settarget(Target);
narshu 1:cc2a9eb0bd55 24 Target gettarget();
narshu 1:cc2a9eb0bd55 25
narshu 1:cc2a9eb0bd55 26 bool flag_terminate;// = false;
narshu 1:cc2a9eb0bd55 27 bool flag_motorStop; // = true;
narshu 1:cc2a9eb0bd55 28 bool flag_manOverride; // = false;
narshu 1:cc2a9eb0bd55 29
narshu 1:cc2a9eb0bd55 30 private:
narshu 1:cc2a9eb0bd55 31
narshu 1:cc2a9eb0bd55 32 void ai_thread ();
narshu 1:cc2a9eb0bd55 33 static void aithreadwrapper(void const *arg){ ((AI*)arg)->ai_thread(); }
narshu 1:cc2a9eb0bd55 34
narshu 1:cc2a9eb0bd55 35 };
narshu 1:cc2a9eb0bd55 36
narshu 1:cc2a9eb0bd55 37 #endif //AI_H