Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/AI/ai.cpp@68:662164480f60, 2013-04-14 (annotated)

Committer:
rsavitski
Date:
Sun Apr 14 18:58:33 2013 +0000
Revision:
68:662164480f60
Parent:
65:4709ff6c753c
Child:
69:4b7bb92916da
merge point

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rsavitski 30:791739422122 1 #include "ai.h"
rsavitski 55:0c8897da6b3a 2 #include "rtos.h"
rsavitski 55:0c8897da6b3a 3 #include "globals.h"
rsavitski 55:0c8897da6b3a 4 #include "motion.h"
rsavitski 55:0c8897da6b3a 5 #include "Colour.h"
rsavitski 55:0c8897da6b3a 6 #include "supportfuncs.h"
rsavitski 65:4709ff6c753c 7 #include "Arm.h"
rsavitski 55:0c8897da6b3a 8
rsavitski 30:791739422122 9
rsavitski 30:791739422122 10 namespace AI
rsavitski 30:791739422122 11 {
rsavitski 30:791739422122 12
rsavitski 30:791739422122 13 void ailayer(void const *dummy)
rsavitski 30:791739422122 14 {
rsavitski 54:99d3158c9207 15 Waypoint current_waypoint;
rsavitski 38:c9058a401410 16
rsavitski 54:99d3158c9207 17 current_waypoint.x = 2.2;
rsavitski 54:99d3158c9207 18 current_waypoint.y = 1.85;
rsavitski 54:99d3158c9207 19 current_waypoint.theta = PI;
rsavitski 54:99d3158c9207 20 current_waypoint.pos_threshold = 0.01;
rsavitski 65:4709ff6c753c 21 current_waypoint.angle_threshold = 0.01*PI;
rsavitski 39:44d3dea4adcc 22
rsavitski 57:d434ceab6892 23 motion::setNewWaypoint(Thread::gettid(),&current_waypoint);
rsavitski 39:44d3dea4adcc 24
madcowswe 50:937e860f4621 25 Colour c_upper(P_COLOR_SENSOR_BLUE_UPPER, P_COLOR_SENSOR_RED_UPPER, P_COLOR_SENSOR_IN_UPPER, UPPER);
madcowswe 50:937e860f4621 26 Colour c_lower(P_COLOR_SENSOR_BLUE_LOWER, P_COLOR_SENSOR_RED_LOWER, P_COLOR_SENSOR_IN_LOWER, LOWER);
rsavitski 55:0c8897da6b3a 27
rsavitski 68:662164480f60 28 float r = 0.61+0.02+0.01;
rsavitski 53:b013df99b747 29
rsavitski 54:99d3158c9207 30 for (float phi=(180-11.25)/180*PI; phi > 11.25/180*PI;)
rsavitski 30:791739422122 31 {
rsavitski 39:44d3dea4adcc 32 motion::waypoint_flag_mutex.lock();
rsavitski 65:4709ff6c753c 33 if (motion::checkMotionStatus() && c_upper.getColour()==RED)
rsavitski 30:791739422122 34 {
rsavitski 65:4709ff6c753c 35 //temphack!!!!!
rsavitski 65:4709ff6c753c 36 Thread::wait(1000);
rsavitski 65:4709ff6c753c 37 arm::upper_arm.go_down();
rsavitski 65:4709ff6c753c 38 Thread::wait(2000);
rsavitski 65:4709ff6c753c 39 arm::upper_arm.go_up();
rsavitski 65:4709ff6c753c 40
rsavitski 54:99d3158c9207 41 phi -= 22.5/180*PI;
rsavitski 54:99d3158c9207 42 current_waypoint.x = 1.5-r*cos(phi);
rsavitski 54:99d3158c9207 43 current_waypoint.y = 2-r*sin(phi);
rsavitski 54:99d3158c9207 44 current_waypoint.theta = constrainAngle(phi+PI/2);
rsavitski 56:ed585a82092b 45
rsavitski 56:ed585a82092b 46 //arm offset
rsavitski 56:ed585a82092b 47 current_waypoint.x += 0.0425*cos(current_waypoint.theta);
rsavitski 56:ed585a82092b 48 current_waypoint.y += 0.0425*sin(current_waypoint.theta);
rsavitski 57:d434ceab6892 49
rsavitski 57:d434ceab6892 50 motion::setNewWaypoint(Thread::gettid(),&current_waypoint);
rsavitski 30:791739422122 51 }
rsavitski 54:99d3158c9207 52 motion::waypoint_flag_mutex.unlock();
rsavitski 54:99d3158c9207 53
rsavitski 54:99d3158c9207 54 Thread::wait(50);
rsavitski 30:791739422122 55 }
rsavitski 30:791739422122 56 }
rsavitski 30:791739422122 57
rsavitski 30:791739422122 58 } //namespace