Shuto Naruse
commit!
ai/ai.h@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 | #ifndef AI_H |
| narshu | 0:42026f893a2d | 2 | #define AI_H |
| narshu | 0:42026f893a2d | 3 | |
| narshu | 0:42026f893a2d | 4 | #include "rtos.h" |
| narshu | 0:42026f893a2d | 5 | //#include "Kalman.h" |
| narshu | 0:42026f893a2d | 6 | |
| narshu | 0:42026f893a2d | 7 | class AI { |
| narshu | 0:42026f893a2d | 8 | public: |
| narshu | 0:42026f893a2d | 9 | AI(); |
| narshu | 0:42026f893a2d | 10 | |
| narshu | 0:42026f893a2d | 11 | Mutex targetlock; |
| narshu | 0:42026f893a2d | 12 | Thread thr_AI; |
| narshu | 0:42026f893a2d | 13 | |
| narshu | 0:42026f893a2d | 14 | struct Target { |
| narshu | 0:42026f893a2d | 15 | float x; |
| narshu | 0:42026f893a2d | 16 | float y; |
| narshu | 0:42026f893a2d | 17 | float theta; |
| narshu | 0:42026f893a2d | 18 | bool facing; |
| narshu | 0:42026f893a2d | 19 | bool reached; |
| narshu | 0:42026f893a2d | 20 | } target; |
| narshu | 0:42026f893a2d | 21 | |
| narshu | 0:42026f893a2d | 22 | void settarget(float targetX, float targetY, float targetTheta, bool targetfacing = true, bool colour = true, int maxSpeed = 35); |
| narshu | 0:42026f893a2d | 23 | void settarget(Target); |
| narshu | 0:42026f893a2d | 24 | Target gettarget(); |
| narshu | 0:42026f893a2d | 25 | |
| narshu | 0:42026f893a2d | 26 | bool flag_terminate;// = false; |
| narshu | 0:42026f893a2d | 27 | bool flag_motorStop; // = true; |
| narshu | 0:42026f893a2d | 28 | bool flag_manOverride; // = false; |
| narshu | 0:42026f893a2d | 29 | |
| narshu | 0:42026f893a2d | 30 | private: |
| narshu | 0:42026f893a2d | 31 | |
| narshu | 0:42026f893a2d | 32 | void ai_thread (); |
| narshu | 0:42026f893a2d | 33 | static void aithreadwrapper(void const *arg){ ((AI*)arg)->ai_thread(); } |
| narshu | 0:42026f893a2d | 34 | |
| narshu | 0:42026f893a2d | 35 | }; |
| narshu | 0:42026f893a2d | 36 | |
| narshu | 0:42026f893a2d | 37 | #endif //AI_H |