Shuto Naruse
commit!
ai/ai.cpp@0:42026f893a2d, 2012-06-15 (annotated)
- Committer:
- narshu
- Date:
- Fri Jun 15 20:40:17 2012 +0000
- Revision:
- 0:42026f893a2d
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| narshu | 0:42026f893a2d | 1 | #include "ai.h" |
| narshu | 0:42026f893a2d | 2 | #include "rtos.h" |
| narshu | 0:42026f893a2d | 3 | #include "globals.h" |
| narshu | 0:42026f893a2d | 4 | |
| narshu | 0:42026f893a2d | 5 | |
| narshu | 0:42026f893a2d | 6 | |
| narshu | 0:42026f893a2d | 7 | AI::AI() : |
| narshu | 0:42026f893a2d | 8 | thr_AI(aithreadwrapper,this,osPriorityNormal,1024) { |
| narshu | 0:42026f893a2d | 9 | flag_terminate = false; |
| narshu | 0:42026f893a2d | 10 | flag_motorStop = true; |
| narshu | 0:42026f893a2d | 11 | flag_manOverride = false; |
| narshu | 0:42026f893a2d | 12 | //printf("aistart\r\n"); |
| narshu | 0:42026f893a2d | 13 | } |
| narshu | 0:42026f893a2d | 14 | |
| narshu | 0:42026f893a2d | 15 | |
| narshu | 0:42026f893a2d | 16 | void AI::settarget(float targetX, float targetY, float targetTheta, bool targetfacing, bool colour, int maxSpeed) { |
| narshu | 0:42026f893a2d | 17 | targetlock.lock(); |
| narshu | 0:42026f893a2d | 18 | MOVE_SPEED = maxSpeed; |
| narshu | 0:42026f893a2d | 19 | target.x = targetX; |
| narshu | 0:42026f893a2d | 20 | target.y = targetY; |
| narshu | 0:42026f893a2d | 21 | target.theta = targetTheta; |
| narshu | 0:42026f893a2d | 22 | target.facing = targetfacing; |
| narshu | 0:42026f893a2d | 23 | target.reached = false; |
| narshu | 0:42026f893a2d | 24 | if (!colour) { |
| narshu | 0:42026f893a2d | 25 | target.x = 3000 - target.x; |
| narshu | 0:42026f893a2d | 26 | target.theta = PI - target.theta; |
| narshu | 0:42026f893a2d | 27 | |
| narshu | 0:42026f893a2d | 28 | target.theta -= (floor(target.theta/(2*PI)))*2*PI; |
| narshu | 0:42026f893a2d | 29 | if (target.theta < -PI) { |
| narshu | 0:42026f893a2d | 30 | target.theta += 2*PI; |
| narshu | 0:42026f893a2d | 31 | } |
| narshu | 0:42026f893a2d | 32 | if (target.theta > PI) { |
| narshu | 0:42026f893a2d | 33 | target.theta -= 2*PI; |
| narshu | 0:42026f893a2d | 34 | } |
| narshu | 0:42026f893a2d | 35 | |
| narshu | 0:42026f893a2d | 36 | |
| narshu | 0:42026f893a2d | 37 | } |
| narshu | 0:42026f893a2d | 38 | targetlock.unlock(); |
| narshu | 0:42026f893a2d | 39 | } |
| narshu | 0:42026f893a2d | 40 | |
| narshu | 0:42026f893a2d | 41 | void AI::settarget(Target targetin) { |
| narshu | 0:42026f893a2d | 42 | targetlock.lock(); |
| narshu | 0:42026f893a2d | 43 | target = targetin; |
| narshu | 0:42026f893a2d | 44 | targetlock.unlock(); |
| narshu | 0:42026f893a2d | 45 | } |
| narshu | 0:42026f893a2d | 46 | |
| narshu | 0:42026f893a2d | 47 | AI::Target AI::gettarget() { |
| narshu | 0:42026f893a2d | 48 | targetlock.lock(); |
| narshu | 0:42026f893a2d | 49 | Target temptarget = target; |
| narshu | 0:42026f893a2d | 50 | targetlock.unlock(); |
| narshu | 0:42026f893a2d | 51 | return temptarget; |
| narshu | 0:42026f893a2d | 52 | } |