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

main.cpp@23:4d8173c5183b, 2013-05-19 (annotated)

Committer:
chrigelburri
Date:
Sun May 19 14:39:20 2013 +0000
Revision:
23:4d8173c5183b
Parent:
22:bfec16575c91 
mit anzeige;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 18:306d362d692b 1
chrigelburri 10:09ddb819fdcb 2 /*! \mainpage Index Page
chrigelburri 2:d8e1613dc38b 3 * @author Christian Burri
chrigelburri 11:775ebb69d5e1 4 * @author Arno Galliker
chrigelburri 2:d8e1613dc38b 5 *
chrigelburri 11:775ebb69d5e1 6 * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 1:6cd533a712c6 7 * All rights reserved.
chrigelburri 2:d8e1613dc38b 8 *
chrigelburri 11:775ebb69d5e1 9 * @brief
chrigelburri 2:d8e1613dc38b 10 *
chrigelburri 15:cb1337567ad4 11 * This program is for an autonomous robot for the competition
chrigelburri 4:3a97923ff2d4 12 * at the Hochschule Luzern.
chrigelburri 3:92ba0254af87 13 * We are one of the 32 teams. In the team #1 is:
chrigelburri 11:775ebb69d5e1 14 * - Bauernfeind Julia <B>WI</B> <a href="mailto:julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 15 * - Büttler Pirmin <B>WI</B> <a href="mailto:pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 16 * - Amberg Reto <B>I</B> <a href="mailto:reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 17 * - Galliker Arno <B>I</B> <a href="mailto:arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 18 * - Amrein Marcel <B>M</B> <a href="mailto:marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 19 * - Flühler Ramon <B>M</B> <a href="mailto:ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 20 * - Burri Christian <B>ET</B> <a href="mailto:christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a>
chrigelburri 4:3a97923ff2d4 21 *
chrigelburri 13:a7c30ee09bae 22 * The postition control is based on this Documentation: Control of Wheeled Mobile Robots:
chrigelburri 13:a7c30ee09bae 23 * An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli.
chrigelburri 15:cb1337567ad4 24 * For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
chrigelburri 2:d8e1613dc38b 25 *
chrigelburri 21:48248c5b8992 26 * The connection to an android smartphone is realise with the library MicroBridge(Android ADB) from Junichi Katsu.
chrigelburri 21:48248c5b8992 27 * For more information see here: <a href="http://mbed.org/users/jksoft/code/MicroBridge/">http://mbed.org/users/jksoft/code/MicroBridge/</a>
chrigelburri 21:48248c5b8992 28 *
chrigelburri 13:a7c30ee09bae 29 * The rest of the classes are only based on standard library from mbed.
chrigelburri 15:cb1337567ad4 30 * For more information see here: <a href="http://mbed.org/users/mbed_official/code/mbed/">http://mbed.org/users/mbed_official/code/mbed/</a>
chrigelburri 1:6cd533a712c6 31 */
chrigelburri 1:6cd533a712c6 32
chrigelburri 11:775ebb69d5e1 33 /**
chrigelburri 11:775ebb69d5e1 34 * @file main.cpp
chrigelburri 11:775ebb69d5e1 35 */
chrigelburri 11:775ebb69d5e1 36
chrigelburri 1:6cd533a712c6 37 #include "defines.h"
chrigelburri 1:6cd533a712c6 38 #include "State.h"
chrigelburri 1:6cd533a712c6 39 #include "RobotControl.h"
chrigelburri 18:306d362d692b 40 #include "androidADB.h"
chrigelburri 11:775ebb69d5e1 41
chrigelburri 11:775ebb69d5e1 42 /**
chrigelburri 11:775ebb69d5e1 43 * @name Hallsensor
chrigelburri 11:775ebb69d5e1 44 * @{
chrigelburri 11:775ebb69d5e1 45 */
chrigelburri 12:235e318a414f 46
chrigelburri 12:235e318a414f 47 /**
chrigelburri 12:235e318a414f 48 * @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16
chrigelburri 12:235e318a414f 49 */
chrigelburri 11:775ebb69d5e1 50 Hallsensor hallLeft(p18, p17, p16);
chrigelburri 12:235e318a414f 51
chrigelburri 11:775ebb69d5e1 52 /**
chrigelburri 11:775ebb69d5e1 53 * @brief <code>hallsensorLeft</code> object with pin17, pin28 and pin29
chrigelburri 11:775ebb69d5e1 54 */
chrigelburri 11:775ebb69d5e1 55 Hallsensor hallRight(p27, p28, p29);
chrigelburri 11:775ebb69d5e1 56 /*! @} */
chrigelburri 1:6cd533a712c6 57
chrigelburri 10:09ddb819fdcb 58 /**
chrigelburri 11:775ebb69d5e1 59 * @name Motors and Robot Control
chrigelburri 12:235e318a414f 60 * @{
chrigelburri 10:09ddb819fdcb 61 */
chrigelburri 12:235e318a414f 62
chrigelburri 12:235e318a414f 63 /**
chrigelburri 12:235e318a414f 64 * @brief <code>leftMotor</code> object with pin26, pin25, pin24,
chrigelburri 12:235e318a414f 65 * pin19 and <code>hallsensorLeft</code> object
chrigelburri 12:235e318a414f 66 */
chrigelburri 1:6cd533a712c6 67 MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft);
chrigelburri 12:235e318a414f 68
chrigelburri 11:775ebb69d5e1 69 /**
chrigelburri 12:235e318a414f 70 * @brief <code>rightMotor</code> object with pin23, pin22, pin21,
chrigelburri 12:235e318a414f 71 * pin20 and <code>hallsensorRight</code> object
chrigelburri 11:775ebb69d5e1 72 */
chrigelburri 1:6cd533a712c6 73 MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight);
chrigelburri 1:6cd533a712c6 74
chrigelburri 11:775ebb69d5e1 75 /**
chrigelburri 12:235e318a414f 76 * @brief <code>robotControl</code> object with <code>leftMotor</code>,
chrigelburri 12:235e318a414f 77 * <code>rightMotor</code> and the sampling rate for the run method
chrigelburri 11:775ebb69d5e1 78 */
chrigelburri 11:775ebb69d5e1 79 RobotControl robotControl(&leftMotor, &rightMotor, PERIOD_ROBOTCONTROL);
chrigelburri 11:775ebb69d5e1 80 /*! @} */
chrigelburri 1:6cd533a712c6 81
chrigelburri 11:775ebb69d5e1 82 /**
chrigelburri 11:775ebb69d5e1 83 * @name Logging & State
chrigelburri 11:775ebb69d5e1 84 * @{
chrigelburri 11:775ebb69d5e1 85 */
chrigelburri 12:235e318a414f 86
chrigelburri 12:235e318a414f 87 /**
chrigelburri 12:235e318a414f 88 * @brief Define the struct for the State and the Logging
chrigelburri 12:235e318a414f 89 */
chrigelburri 11:775ebb69d5e1 90 state_t s;
chrigelburri 12:235e318a414f 91
chrigelburri 11:775ebb69d5e1 92 /**
chrigelburri 12:235e318a414f 93 * @brief <code>state</code> object with <code>robotControl</code>,
chrigelburri 12:235e318a414f 94 * <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code>
chrigelburri 12:235e318a414f 95 * and the sampling rate for the run method
chrigelburri 11:775ebb69d5e1 96 */
chrigelburri 11:775ebb69d5e1 97 State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE);
chrigelburri 11:775ebb69d5e1 98 /*! @} */
chrigelburri 1:6cd533a712c6 99
chrigelburri 14:6a45a9f940a8 100 /**
chrigelburri 14:6a45a9f940a8 101 * @name Communication
chrigelburri 14:6a45a9f940a8 102 * @{
chrigelburri 14:6a45a9f940a8 103 */
chrigelburri 14:6a45a9f940a8 104
chrigelburri 14:6a45a9f940a8 105 /*! @} */
chrigelburri 14:6a45a9f940a8 106
chrigelburri 14:6a45a9f940a8 107
chrigelburri 12:235e318a414f 108 // @todo PC USB communications DAs wird danach gelöscht
chrigelburri 18:306d362d692b 109 Serial pc(USBTX, USBRX);
chrigelburri 1:6cd533a712c6 110
chrigelburri 23:4d8173c5183b 111 PwmOut led[4] = { LED1, LED2, LED3, LED4 };
chrigelburri 23:4d8173c5183b 112
chrigelburri 23:4d8173c5183b 113
chrigelburri 12:235e318a414f 114 /**
chrigelburri 12:235e318a414f 115 * @brief Main function. Start the Programm here.
chrigelburri 12:235e318a414f 116 */
chrigelburri 1:6cd533a712c6 117 int main()
chrigelburri 1:6cd533a712c6 118 {
chrigelburri 12:235e318a414f 119
chrigelburri 22:bfec16575c91 120 int garagenumber = 1;
chrigelburri 22:bfec16575c91 121 float x = -2.954f + 0.308 * garagenumber;
chrigelburri 22:bfec16575c91 122 float ypre = 1.30f;
chrigelburri 22:bfec16575c91 123 float ygoal = 0.80f;
chrigelburri 22:bfec16575c91 124
chrigelburri 12:235e318a414f 125 /**
chrigelburri 22:bfec16575c91 126 * Check at first the Battery voltage. Starts when the voltages greater as the min is.
chrigelburri 12:235e318a414f 127 * start the timer for the Logging to the file
chrigelburri 12:235e318a414f 128 * and start the Task for logging
chrigelburri 23:4d8173c5183b 129 * Slow PWM sample for the end
chrigelburri 12:235e318a414f 130 **/
chrigelburri 22:bfec16575c91 131 state.start();
chrigelburri 22:bfec16575c91 132 state.initPlotFile();
chrigelburri 22:bfec16575c91 133 state.closePlotFile();
chrigelburri 23:4d8173c5183b 134 while(s.voltageBattery < BAT_MIN) {
chrigelburri 23:4d8173c5183b 135 for (float f = 0.1f; f < 6.3f; f += 0.1f) {
chrigelburri 23:4d8173c5183b 136 for(int i = 0; i <= 3; i ++) {
chrigelburri 23:4d8173c5183b 137 led[i] = state.dim( i, f );
chrigelburri 23:4d8173c5183b 138 }
chrigelburri 23:4d8173c5183b 139 wait_ms(20);
chrigelburri 23:4d8173c5183b 140 }
chrigelburri 23:4d8173c5183b 141 wait(0.05);
chrigelburri 23:4d8173c5183b 142 for (float f = 0.1f; f < 6.3f; f += 0.1f) {
chrigelburri 23:4d8173c5183b 143 for(int i = 0; i <= 3; i ++) {
chrigelburri 23:4d8173c5183b 144 led[i] = state.dim( 3-i, f );
chrigelburri 23:4d8173c5183b 145 }
chrigelburri 23:4d8173c5183b 146 wait_ms(20);
chrigelburri 23:4d8173c5183b 147 }
chrigelburri 23:4d8173c5183b 148 wait(0.05);
chrigelburri 23:4d8173c5183b 149 }
chrigelburri 22:bfec16575c91 150 state.stop();
chrigelburri 23:4d8173c5183b 151 for(int i = 0; i <= 3; i ++) {
chrigelburri 23:4d8173c5183b 152 led[i] = state.dim( 0, 0.0f );
chrigelburri 23:4d8173c5183b 153 }
chrigelburri 22:bfec16575c91 154 wait(0.5);
chrigelburri 22:bfec16575c91 155 state.start();
chrigelburri 16:b5d949136a21 156 state.initPlotFile();
chrigelburri 12:235e318a414f 157 state.startTimerFromZero();
chrigelburri 12:235e318a414f 158
chrigelburri 12:235e318a414f 159 /**
chrigelburri 12:235e318a414f 160 * Clear all Errors of the ESCON Module, with a disabled to enable event
chrigelburri 12:235e318a414f 161 */
chrigelburri 1:6cd533a712c6 162 robotControl.setEnable(false);
chrigelburri 16:b5d949136a21 163 wait(0.01);
chrigelburri 1:6cd533a712c6 164 robotControl.setEnable(true);
chrigelburri 6:48eeb41188dd 165 wait(0.1);
chrigelburri 12:235e318a414f 166
chrigelburri 12:235e318a414f 167 /**
chrigelburri 12:235e318a414f 168 * Set the startposition and start the Task for controlling the roboter.
chrigelburri 12:235e318a414f 169 */
chrigelburri 22:bfec16575c91 170 // robotControl.setAllToZero(0, 0, PI/2 );
chrigelburri 22:bfec16575c91 171 robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
chrigelburri 8:696c2f9dfc62 172 robotControl.start();
chrigelburri 22:bfec16575c91 173 robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
chrigelburri 22:bfec16575c91 174 wait(0.1);
chrigelburri 22:bfec16575c91 175 state.savePlotFile(s);
chrigelburri 6:48eeb41188dd 176
chrigelburri 22:bfec16575c91 177 /**
chrigelburri 22:bfec16575c91 178 * Sets the desired Points.
chrigelburri 22:bfec16575c91 179 */
chrigelburri 22:bfec16575c91 180 robotControl.setDesiredPositionAndAngle(-1.35f, 1.85f, 3*PI/8);
chrigelburri 22:bfec16575c91 181 while(!(robotControl.getDistanceError() <= 0.7)) {
chrigelburri 22:bfec16575c91 182 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 183 };
chrigelburri 6:48eeb41188dd 184
chrigelburri 22:bfec16575c91 185 robotControl.setDesiredPositionAndAngle(-0.75f, 2.85f, 3*PI/8);
chrigelburri 22:bfec16575c91 186 while(!(robotControl.getDistanceError() <= 0.7)) {
chrigelburri 22:bfec16575c91 187 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 188 };
chrigelburri 6:48eeb41188dd 189
chrigelburri 22:bfec16575c91 190 robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4);
chrigelburri 22:bfec16575c91 191 while(!(robotControl.getDistanceError() <= 0.55)) {
chrigelburri 22:bfec16575c91 192 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 193 };
chrigelburri 8:696c2f9dfc62 194
chrigelburri 22:bfec16575c91 195 robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
chrigelburri 22:bfec16575c91 196 while(!(robotControl.getDistanceError() <= 0.05)) {
chrigelburri 22:bfec16575c91 197 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 198 };
chrigelburri 11:775ebb69d5e1 199
chrigelburri 22:bfec16575c91 200 robotControl.setDesiredPositionAndAngle(-2.1f, 3.0f, -PI/2);
chrigelburri 22:bfec16575c91 201 while(!(robotControl.getDistanceError() <= 1.0)) {
chrigelburri 22:bfec16575c91 202 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 203 };
chrigelburri 12:235e318a414f 204
chrigelburri 22:bfec16575c91 205 robotControl.setDesiredPositionAndAngle(-2.0f, 1.8f, -PI/2);
chrigelburri 22:bfec16575c91 206 while(!(robotControl.getDistanceError() <= 1.0)) {
chrigelburri 22:bfec16575c91 207 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 208 };
chrigelburri 22:bfec16575c91 209
chrigelburri 22:bfec16575c91 210 robotControl.setDesiredPositionAndAngle(x, ypre, -PI/2);
chrigelburri 22:bfec16575c91 211 while(!(robotControl.getDistanceError() <= 0.4)) {
chrigelburri 22:bfec16575c91 212 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 213 };
chrigelburri 22:bfec16575c91 214 robotControl.setDesiredPositionAndAngle(x, ygoal, -PI/2);
chrigelburri 22:bfec16575c91 215 while(!(s.millis >= 19000)) {
chrigelburri 22:bfec16575c91 216 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 217 }
chrigelburri 8:696c2f9dfc62 218
chrigelburri 8:696c2f9dfc62 219
chrigelburri 22:bfec16575c91 220 /*
chrigelburri 22:bfec16575c91 221 pc.baud(460800);
chrigelburri 22:bfec16575c91 222 pc.printf("********************* MicroBridge 4568 ********************************\n\r");
chrigelburri 21:48248c5b8992 223
chrigelburri 22:bfec16575c91 224 init();
chrigelburri 19:b2f76b0fe4c8 225
chrigelburri 22:bfec16575c91 226 // Initialise the ADB subsystem.
chrigelburri 19:b2f76b0fe4c8 227
chrigelburri 22:bfec16575c91 228 pc.printf("connection isOpen\n");
chrigelburri 21:48248c5b8992 229
chrigelburri 22:bfec16575c91 230 while(getDesiredTheta() < (4 * PI)) {
chrigelburri 22:bfec16575c91 231
chrigelburri 22:bfec16575c91 232 ADB::poll();
chrigelburri 19:b2f76b0fe4c8 233
chrigelburri 22:bfec16575c91 234 if (getDesiredTheta() > (2 * PI)) {
chrigelburri 22:bfec16575c91 235 //robotControl.setAllToZero(0, 0, PI/2 );
chrigelburri 22:bfec16575c91 236 robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
chrigelburri 22:bfec16575c91 237 robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
chrigelburri 22:bfec16575c91 238 }
chrigelburri 22:bfec16575c91 239 else
chrigelburri 22:bfec16575c91 240 {
chrigelburri 22:bfec16575c91 241 robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
chrigelburri 21:48248c5b8992 242
chrigelburri 21:48248c5b8992 243
chrigelburri 22:bfec16575c91 244 state.savePlotFile(s);
chrigelburri 22:bfec16575c91 245 //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
chrigelburri 22:bfec16575c91 246 }
chrigelburri 22:bfec16575c91 247
chrigelburri 22:bfec16575c91 248 writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta(), s.state&STATE_UNDER, s.state&STATE_LEFT, s.state&STATE_RIGHT, s.voltageBattery);
chrigelburri 22:bfec16575c91 249 //connection->write(sizeof(str),(unsigned char*)&str);
chrigelburri 22:bfec16575c91 250
chrigelburri 22:bfec16575c91 251 wait(0.25);
chrigelburri 22:bfec16575c91 252
chrigelburri 22:bfec16575c91 253 }
chrigelburri 22:bfec16575c91 254
chrigelburri 22:bfec16575c91 255 */
chrigelburri 21:48248c5b8992 256 /**
chrigelburri 21:48248c5b8992 257 * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
chrigelburri 21:48248c5b8992 258 */
chrigelburri 10:09ddb819fdcb 259 state.savePlotFile(s);
chrigelburri 10:09ddb819fdcb 260 state.closePlotFile();
chrigelburri 10:09ddb819fdcb 261 state.stop();
chrigelburri 10:09ddb819fdcb 262 robotControl.setEnable(false);
chrigelburri 23:4d8173c5183b 263 robotControl.stop();
chrigelburri 23:4d8173c5183b 264
chrigelburri 23:4d8173c5183b 265 /**
chrigelburri 23:4d8173c5183b 266 * Fast PWM sample for the end
chrigelburri 23:4d8173c5183b 267 */
chrigelburri 23:4d8173c5183b 268 while(1) {
chrigelburri 23:4d8173c5183b 269 for (float f = 0.1f; f < 6.3f; f += 0.1f) {
chrigelburri 23:4d8173c5183b 270 for(int i = 0; i <= 3; i ++) {
chrigelburri 23:4d8173c5183b 271 led[i] = state.dim( i, f );
chrigelburri 23:4d8173c5183b 272 }
chrigelburri 23:4d8173c5183b 273 wait_ms(5);
chrigelburri 23:4d8173c5183b 274 }
chrigelburri 23:4d8173c5183b 275 wait(0.1);
chrigelburri 23:4d8173c5183b 276 for (float f = 0.1f; f < 6.3f; f += 0.1f) {
chrigelburri 23:4d8173c5183b 277 for(int i = 0; i <= 3; i ++) {
chrigelburri 23:4d8173c5183b 278 led[i] = state.dim( 3-i, f );
chrigelburri 23:4d8173c5183b 279 }
chrigelburri 23:4d8173c5183b 280 wait_ms(5);
chrigelburri 23:4d8173c5183b 281 }
chrigelburri 23:4d8173c5183b 282 wait(0.05);
chrigelburri 23:4d8173c5183b 283 }
chrigelburri 21:48248c5b8992 284
chrigelburri 10:09ddb819fdcb 285 }