Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

StateDefines/State.h@6:48eeb41188dd, 2013-03-23 (annotated)

Committer:
chrigelburri
Date:
Sat Mar 23 13:52:48 2013 +0000
Revision:
6:48eeb41188dd
Parent:
3:92ba0254af87
Child:
11:775ebb69d5e1
mit link und rechten Radradius

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 0:31f7be68e52d 1 #ifndef _STATE_H_
chrigelburri 0:31f7be68e52d 2 #define _STATE_H_
chrigelburri 0:31f7be68e52d 3
chrigelburri 0:31f7be68e52d 4 #include <cmath>
chrigelburri 0:31f7be68e52d 5 #include "mbed.h"
chrigelburri 0:31f7be68e52d 6 #include "MaxonESCON.h"
chrigelburri 0:31f7be68e52d 7 #include "RobotControl.h"
chrigelburri 0:31f7be68e52d 8 #include "Task.h"
chrigelburri 0:31f7be68e52d 9 #include "HMC5883L.h"
chrigelburri 0:31f7be68e52d 10 #include "HMC6352.h"
chrigelburri 0:31f7be68e52d 11 #include "defines.h"
chrigelburri 0:31f7be68e52d 12
chrigelburri 0:31f7be68e52d 13 /**
chrigelburri 0:31f7be68e52d 14 * @author Christian Burri
chrigelburri 0:31f7be68e52d 15 *
chrigelburri 0:31f7be68e52d 16 * @section LICENSE
chrigelburri 0:31f7be68e52d 17 *
chrigelburri 1:6cd533a712c6 18 * Copyright &copy; 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 0:31f7be68e52d 19 * All rights reserved.
chrigelburri 0:31f7be68e52d 20 *
chrigelburri 0:31f7be68e52d 21 * @section DESCRIPTION
chrigelburri 0:31f7be68e52d 22 *
chrigelburri 0:31f7be68e52d 23 * State is the main mechanism for communicating current realtime system state to
chrigelburri 0:31f7be68e52d 24 * the rest of the system for logging etc.
chrigelburri 6:48eeb41188dd 25 *
chrigelburri 0:31f7be68e52d 26 */
chrigelburri 0:31f7be68e52d 27
chrigelburri 0:31f7be68e52d 28 class State : public Task
chrigelburri 0:31f7be68e52d 29 {
chrigelburri 0:31f7be68e52d 30
chrigelburri 0:31f7be68e52d 31 private:
chrigelburri 0:31f7be68e52d 32
chrigelburri 0:31f7be68e52d 33 state_t* s;
chrigelburri 0:31f7be68e52d 34 RobotControl* robotControl;
chrigelburri 0:31f7be68e52d 35 MaxonESCON* motorControllerLeft;
chrigelburri 0:31f7be68e52d 36 MaxonESCON* motorControllerRight;
chrigelburri 6:48eeb41188dd 37 // HMC6352* compass;
chrigelburri 0:31f7be68e52d 38 AnalogIn* battery;
chrigelburri 0:31f7be68e52d 39 Timer timer;
chrigelburri 0:31f7be68e52d 40 float period;
chrigelburri 6:48eeb41188dd 41 //float magout[3];
chrigelburri 0:31f7be68e52d 42
chrigelburri 0:31f7be68e52d 43 public:
chrigelburri 0:31f7be68e52d 44
chrigelburri 0:31f7be68e52d 45 /**
chrigelburri 1:6cd533a712c6 46 * Creates a robot control object and initializes all private state variables.
chrigelburri 3:92ba0254af87 47 * @param s struct to read and write the state
chrigelburri 3:92ba0254af87 48 * @param robotControl Object to read the state
chrigelburri 3:92ba0254af87 49 * @param motorControllerLeft a reference to the servo drive for the left motor
chrigelburri 3:92ba0254af87 50 * @param motorControllerRight a reference to the servo drive for the right motor
chrigelburri 0:31f7be68e52d 51 * @param compass Modul HMC5883L
chrigelburri 1:6cd533a712c6 52 * @param battery Analog Input Battery Voltage input
chrigelburri 3:92ba0254af87 53 * @param period the sampling period of the run loop of this controller, given in [s]
chrigelburri 0:31f7be68e52d 54 */
chrigelburri 6:48eeb41188dd 55 State(state_t* s,
chrigelburri 6:48eeb41188dd 56 RobotControl* robotControl,
chrigelburri 6:48eeb41188dd 57 MaxonESCON* motorControllerLeft,
chrigelburri 6:48eeb41188dd 58 MaxonESCON* motorControllerRight,
chrigelburri 6:48eeb41188dd 59 /*HMC6352* compass,*/
chrigelburri 6:48eeb41188dd 60 AnalogIn* battery,
chrigelburri 6:48eeb41188dd 61 float period);
chrigelburri 0:31f7be68e52d 62
chrigelburri 0:31f7be68e52d 63 /**
chrigelburri 6:48eeb41188dd 64 * Destructor of the Object to destroy the Object.
chrigelburri 6:48eeb41188dd 65 **/
chrigelburri 0:31f7be68e52d 66 virtual ~State();
chrigelburri 6:48eeb41188dd 67
chrigelburri 0:31f7be68e52d 68 /**
chrigelburri 3:92ba0254af87 69 * Initzialize the File. Open the File plots.txt and set the title at first line.
chrigelburri 0:31f7be68e52d 70 */
chrigelburri 0:31f7be68e52d 71 void initPlotFile(void);
chrigelburri 0:31f7be68e52d 72
chrigelburri 0:31f7be68e52d 73 /**
chrigelburri 6:48eeb41188dd 74 * Save the char to the file.
chrigelburri 6:48eeb41188dd 75 * For example at the end.
chrigelburri 6:48eeb41188dd 76 * Don't forget the \n at first.
chrigelburri 6:48eeb41188dd 77 */
chrigelburri 0:31f7be68e52d 78 void savePlotText(char text[]);
chrigelburri 0:31f7be68e52d 79
chrigelburri 0:31f7be68e52d 80 /**
chrigelburri 6:48eeb41188dd 81 * Close the File.
chrigelburri 6:48eeb41188dd 82 */
chrigelburri 0:31f7be68e52d 83 void closePlotFile(void);
chrigelburri 0:31f7be68e52d 84
chrigelburri 0:31f7be68e52d 85 /**
chrigelburri 0:31f7be68e52d 86 * Return the Battery voltage
chrigelburri 0:31f7be68e52d 87 * state variables.
chrigelburri 0:31f7be68e52d 88 * @return Batterie Voltage [V]
chrigelburri 0:31f7be68e52d 89 */
chrigelburri 0:31f7be68e52d 90 float readBattery();
chrigelburri 0:31f7be68e52d 91
chrigelburri 6:48eeb41188dd 92 /**
chrigelburri 3:92ba0254af87 93 * Starts the timer from zero.
chrigelburri 1:6cd533a712c6 94 * The timer is for the logging Time.
chrigelburri 1:6cd533a712c6 95 */
chrigelburri 0:31f7be68e52d 96 void startTimerFromZero();
chrigelburri 0:31f7be68e52d 97
chrigelburri 0:31f7be68e52d 98 /**
chrigelburri 6:48eeb41188dd 99 * Save the new state to a new line.
chrigelburri 6:48eeb41188dd 100 */
chrigelburri 0:31f7be68e52d 101 void savePlotFile(state_t s);
chrigelburri 0:31f7be68e52d 102
chrigelburri 0:31f7be68e52d 103 void run();
chrigelburri 0:31f7be68e52d 104
chrigelburri 0:31f7be68e52d 105 private:
chrigelburri 0:31f7be68e52d 106
chrigelburri 0:31f7be68e52d 107 void setBatteryBit();
chrigelburri 0:31f7be68e52d 108
chrigelburri 0:31f7be68e52d 109 void setEnableLeftBit();
chrigelburri 0:31f7be68e52d 110
chrigelburri 0:31f7be68e52d 111 void setEnableRightBit();
chrigelburri 0:31f7be68e52d 112 };
chrigelburri 0:31f7be68e52d 113
chrigelburri 0:31f7be68e52d 114 #endif