Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

Files at this revision

API Documentation at this revision

Revision 56:ed585a82092b, committed 2013-04-13

Comitter:
rsavitski
Date:
Sat Apr 13 19:01:45 2013 +0000
Parent:
55:0c8897da6b3a
Child:
57:d434ceab6892
Commit message:
R syncpoint. Working before modifying motion layer

Changed in this revision

Processes/AI/ai.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Processes/AI/ai.cpp	Fri Apr 12 22:00:32 2013 +0000
+++ b/Processes/AI/ai.cpp	Sat Apr 13 19:01:45 2013 +0000
@@ -35,6 +35,11 @@
             current_waypoint.x = 1.5-r*cos(phi);
             current_waypoint.y = 2-r*sin(phi);
             current_waypoint.theta = constrainAngle(phi+PI/2);
+            
+            //arm offset
+            current_waypoint.x += 0.0425*cos(current_waypoint.theta);
+            current_waypoint.y += 0.0425*sin(current_waypoint.theta);
+            
             motion::clearWaypointReached();
             motion::setNewWaypoint(&current_waypoint);
         }