Diff: Processes/AI/ai.cpp

Revision:

39:c9058a401410

Parent:

38:6ecf0d21e492

Child:

40:44d3dea4adcc

--- a/Processes/AI/ai.cpp	Wed Apr 10 20:44:29 2013 +0000
+++ b/Processes/AI/ai.cpp	Wed Apr 10 22:30:09 2013 +0000
@@ -11,21 +11,38 @@
 
 void ailayer(void const *dummy)
 {
+    current_waypoint = new Waypoint[5];
+
+    current_waypoint[0].x = 1;
+    current_waypoint[0].y = 1;
+    current_waypoint[0].theta = 0.0;
+    current_waypoint[0].pos_threshold = 0.05;
+    current_waypoint[0].angle_threshold = 0.05*PI;
+
+    current_waypoint[1].x = 2.2;
+    current_waypoint[1].y = 1.5;
+    current_waypoint[1].theta = PI/2;
+    current_waypoint[1].pos_threshold = 0.05;
+    current_waypoint[1].angle_threshold = 0.05*PI;
+
+    current_waypoint[2].x = -999;
+
+/*
     //TODO: temp current waypoint hack
     current_waypoint = new Waypoint;
     current_waypoint->x = 0.5;
     current_waypoint->y = 0.7;
     current_waypoint->theta = 0.0;
     current_waypoint->pos_threshold = 0.05;
-    current_waypoint->angle_threshold = 0.1*PI;
+    current_waypoint->angle_threshold = 0.05*PI;
     
     Waypoint* secondwp = new Waypoint;
-    secondwp->x = 2;
-    secondwp->y = 1.2;
+    secondwp->x = 1.20;
+    secondwp->y = 0.18;
     secondwp->theta = PI;
-    secondwp->pos_threshold = 0.05;
-    secondwp->angle_threshold = 0.1*PI;
-    
+    secondwp->pos_threshold = 0.01;
+    secondwp->angle_threshold = 0.00001;
+*/    
     
     while(1)
     {
@@ -35,8 +52,8 @@
         if (checkWaypointStatus())
         {
             clearWaypointReached();
-            //delete current_waypoint;
-            current_waypoint = secondwp;
+            if ((current_waypoint+1)->x != -999) 
+                current_waypoint++;
         }
         waypoint_flag_mutex.unlock();
     }