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
Fork of autonomous Robot Android by
AndroidADKTerm/android.h@14:6a45a9f940a8, 2013-04-11 (annotated)
- Committer:
- chrigelburri
- Date:
- Thu Apr 11 09:22:35 2013 +0000
- Revision:
- 14:6a45a9f940a8
- Parent:
- 12:235e318a414f
- Child:
- 15:cb1337567ad4
android 2.0 implemented (untested!)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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chrigelburri | 11:775ebb69d5e1 | 1 | #ifndef _ANDROID_H_ |
chrigelburri | 11:775ebb69d5e1 | 2 | #define _ANDROID_H_ |
chrigelburri | 11:775ebb69d5e1 | 3 | |
chrigelburri | 14:6a45a9f940a8 | 4 | #include "RobotControl.h" |
chrigelburri | 11:775ebb69d5e1 | 5 | #include "mbed.h" |
chrigelburri | 11:775ebb69d5e1 | 6 | #include "AndroidAccessory.h" |
chrigelburri | 11:775ebb69d5e1 | 7 | #include "defines.h" |
chrigelburri | 11:775ebb69d5e1 | 8 | #include <string> |
chrigelburri | 11:775ebb69d5e1 | 9 | #include <sstream> |
chrigelburri | 11:775ebb69d5e1 | 10 | #include <vector> |
chrigelburri | 11:775ebb69d5e1 | 11 | #include <iostream> |
chrigelburri | 11:775ebb69d5e1 | 12 | #include <stdlib.h> |
chrigelburri | 11:775ebb69d5e1 | 13 | |
chrigelburri | 11:775ebb69d5e1 | 14 | /** |
chrigelburri | 11:775ebb69d5e1 | 15 | * @author Arno Galliker |
chrigelburri | 11:775ebb69d5e1 | 16 | * |
chrigelburri | 14:6a45a9f940a8 | 17 | * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 11:775ebb69d5e1 | 18 | * All rights reserved. |
chrigelburri | 11:775ebb69d5e1 | 19 | * |
chrigelburri | 14:6a45a9f940a8 | 20 | * @brief |
chrigelburri | 11:775ebb69d5e1 | 21 | * |
chrigelburri | 11:775ebb69d5e1 | 22 | * This class implements communication with the android smartphone |
chrigelburri | 11:775ebb69d5e1 | 23 | * For more information see the Android ADK Cookbook: |
chrigelburri | 11:775ebb69d5e1 | 24 | * <a href="http://mbed.org/cookbook/mbed-with-Android-ADK">http://mbed.org/cookbook/mbed-with-Android-ADK</a> |
chrigelburri | 11:775ebb69d5e1 | 25 | * |
chrigelburri | 11:775ebb69d5e1 | 26 | * Originally created by p07gbar from work by Makoto Abe |
chrigelburri | 11:775ebb69d5e1 | 27 | */ |
chrigelburri | 11:775ebb69d5e1 | 28 | |
chrigelburri | 14:6a45a9f940a8 | 29 | //#define OUTL 100 |
chrigelburri | 14:6a45a9f940a8 | 30 | //#define INBL 100 |
chrigelburri | 11:775ebb69d5e1 | 31 | |
chrigelburri | 14:6a45a9f940a8 | 32 | class AdkTerm : public AndroidAccessory, public Task |
chrigelburri | 11:775ebb69d5e1 | 33 | { |
chrigelburri | 11:775ebb69d5e1 | 34 | |
chrigelburri | 11:775ebb69d5e1 | 35 | private: |
chrigelburri | 11:775ebb69d5e1 | 36 | |
chrigelburri | 14:6a45a9f940a8 | 37 | /** @brief Instance of RobotControl*/ |
chrigelburri | 14:6a45a9f940a8 | 38 | RobotControl* robotControl; |
chrigelburri | 11:775ebb69d5e1 | 39 | |
chrigelburri | 14:6a45a9f940a8 | 40 | float period; |
chrigelburri | 14:6a45a9f940a8 | 41 | |
chrigelburri | 14:6a45a9f940a8 | 42 | /** @brief Char buffer with a size of OUTL */ |
chrigelburri | 11:775ebb69d5e1 | 43 | char buffer[OUTL]; |
chrigelburri | 11:775ebb69d5e1 | 44 | |
chrigelburri | 14:6a45a9f940a8 | 45 | state_t* s; |
chrigelburri | 14:6a45a9f940a8 | 46 | |
chrigelburri | 14:6a45a9f940a8 | 47 | /** @brief Buffer count ??? */ |
chrigelburri | 11:775ebb69d5e1 | 48 | int bcount; |
chrigelburri | 14:6a45a9f940a8 | 49 | |
chrigelburri | 14:6a45a9f940a8 | 50 | /** @brief States if something is written to the buffer?? */ |
chrigelburri | 11:775ebb69d5e1 | 51 | bool ind; |
chrigelburri | 14:6a45a9f940a8 | 52 | |
chrigelburri | 14:6a45a9f940a8 | 53 | /** @brief Desired position in meters for x-coordinate, given by android */ |
chrigelburri | 14:6a45a9f940a8 | 54 | float desiredX; |
chrigelburri | 14:6a45a9f940a8 | 55 | |
chrigelburri | 14:6a45a9f940a8 | 56 | /** @brief Desired position in meters for y-coordinate, given by android */ |
chrigelburri | 14:6a45a9f940a8 | 57 | float desiredY; |
chrigelburri | 14:6a45a9f940a8 | 58 | |
chrigelburri | 14:6a45a9f940a8 | 59 | /** @brief Desired position in degrees for theta, given by android */ |
chrigelburri | 14:6a45a9f940a8 | 60 | float desiredTheta; |
chrigelburri | 11:775ebb69d5e1 | 61 | |
chrigelburri | 11:775ebb69d5e1 | 62 | public: |
chrigelburri | 11:775ebb69d5e1 | 63 | |
chrigelburri | 11:775ebb69d5e1 | 64 | /** |
chrigelburri | 14:6a45a9f940a8 | 65 | * @brief Creates a <code>AdkTerm</code> object and initializes all private |
chrigelburri | 11:775ebb69d5e1 | 66 | * state variables. Constructor |
chrigelburri | 14:6a45a9f940a8 | 67 | * @param robotControl RobotControl obejct reference |
chrigelburri | 14:6a45a9f940a8 | 68 | * @param period length of a period in seconds |
chrigelburri | 11:775ebb69d5e1 | 69 | */ |
chrigelburri | 14:6a45a9f940a8 | 70 | AdkTerm(RobotControl* robotControl, state_t* s, float period); |
chrigelburri | 11:775ebb69d5e1 | 71 | |
chrigelburri | 11:775ebb69d5e1 | 72 | /** |
chrigelburri | 14:6a45a9f940a8 | 73 | * @brief Sets initial configurations and clears the buffer |
chrigelburri | 14:6a45a9f940a8 | 74 | * |
chrigelburri | 11:775ebb69d5e1 | 75 | */ |
chrigelburri | 11:775ebb69d5e1 | 76 | void setupDevice(); |
chrigelburri | 11:775ebb69d5e1 | 77 | |
chrigelburri | 11:775ebb69d5e1 | 78 | /** |
chrigelburri | 14:6a45a9f940a8 | 79 | * @brief Returns the desired position in meters for x-coordinate, given by android |
chrigelburri | 11:775ebb69d5e1 | 80 | * @return x-coordinate,given in [m] |
chrigelburri | 11:775ebb69d5e1 | 81 | */ |
chrigelburri | 14:6a45a9f940a8 | 82 | float getDesiredX(); |
chrigelburri | 11:775ebb69d5e1 | 83 | |
chrigelburri | 11:775ebb69d5e1 | 84 | /** |
chrigelburri | 11:775ebb69d5e1 | 85 | * Returns the desired position in meters for y-coordinate, given by android |
chrigelburri | 11:775ebb69d5e1 | 86 | * @return y-coordinate,given in [m] |
chrigelburri | 11:775ebb69d5e1 | 87 | */ |
chrigelburri | 14:6a45a9f940a8 | 88 | float getDesiredY(); |
chrigelburri | 11:775ebb69d5e1 | 89 | |
chrigelburri | 14:6a45a9f940a8 | 90 | /** |
chrigelburri | 14:6a45a9f940a8 | 91 | * @brief Returns the esired position in degrees for theta, given by android |
chrigelburri | 14:6a45a9f940a8 | 92 | * @return y-coordinate,given in degrees [°] |
chrigelburri | 14:6a45a9f940a8 | 93 | */ |
chrigelburri | 14:6a45a9f940a8 | 94 | float getDesiredTheta(); |
chrigelburri | 14:6a45a9f940a8 | 95 | |
chrigelburri | 14:6a45a9f940a8 | 96 | /** @brief Method to call when a tick period is over */ |
chrigelburri | 14:6a45a9f940a8 | 97 | void onTick(); |
chrigelburri | 11:775ebb69d5e1 | 98 | |
chrigelburri | 11:775ebb69d5e1 | 99 | private: |
chrigelburri | 11:775ebb69d5e1 | 100 | |
chrigelburri | 11:775ebb69d5e1 | 101 | /** |
chrigelburri | 14:6a45a9f940a8 | 102 | * @brief Clears the buffer and bcount |
chrigelburri | 11:775ebb69d5e1 | 103 | */ |
chrigelburri | 11:775ebb69d5e1 | 104 | void resetDevice(); |
chrigelburri | 11:775ebb69d5e1 | 105 | |
chrigelburri | 11:775ebb69d5e1 | 106 | /** |
chrigelburri | 14:6a45a9f940a8 | 107 | * @brief Takes an string, a vector of strings for the delimited tokens, and a with the |
chrigelburri | 11:775ebb69d5e1 | 108 | * @param str |
chrigelburri | 11:775ebb69d5e1 | 109 | * @param tokens |
chrigelburri | 11:775ebb69d5e1 | 110 | * @param delimiters |
chrigelburri | 11:775ebb69d5e1 | 111 | */ |
chrigelburri | 14:6a45a9f940a8 | 112 | void Tokenize(const string& str, |
chrigelburri | 14:6a45a9f940a8 | 113 | vector<string>& tokens, |
chrigelburri | 14:6a45a9f940a8 | 114 | const string& delimiters = " "); |
chrigelburri | 11:775ebb69d5e1 | 115 | |
chrigelburri | 11:775ebb69d5e1 | 116 | /** |
chrigelburri | 14:6a45a9f940a8 | 117 | * @brief |
chrigelburri | 11:775ebb69d5e1 | 118 | * @param buf |
chrigelburri | 11:775ebb69d5e1 | 119 | * @param len |
chrigelburri | 11:775ebb69d5e1 | 120 | */ |
chrigelburri | 11:775ebb69d5e1 | 121 | int callbackRead(u8 *buf, int len); |
chrigelburri | 11:775ebb69d5e1 | 122 | |
chrigelburri | 11:775ebb69d5e1 | 123 | /** |
chrigelburri | 14:6a45a9f940a8 | 124 | * @brief |
chrigelburri | 11:775ebb69d5e1 | 125 | * |
chrigelburri | 11:775ebb69d5e1 | 126 | */ |
chrigelburri | 11:775ebb69d5e1 | 127 | int callbackWrite(); |
chrigelburri | 11:775ebb69d5e1 | 128 | |
chrigelburri | 11:775ebb69d5e1 | 129 | /** |
chrigelburri | 14:6a45a9f940a8 | 130 | * @brief |
chrigelburri | 11:775ebb69d5e1 | 131 | * |
chrigelburri | 11:775ebb69d5e1 | 132 | */ |
chrigelburri | 11:775ebb69d5e1 | 133 | void serialIRQ(); |
chrigelburri | 14:6a45a9f940a8 | 134 | |
chrigelburri | 14:6a45a9f940a8 | 135 | /** |
chrigelburri | 14:6a45a9f940a8 | 136 | * @brief Run method actualize every period |
chrigelburri | 14:6a45a9f940a8 | 137 | */ |
chrigelburri | 14:6a45a9f940a8 | 138 | void run(); |
chrigelburri | 11:775ebb69d5e1 | 139 | |
chrigelburri | 11:775ebb69d5e1 | 140 | }; |
chrigelburri | 11:775ebb69d5e1 | 141 | |
chrigelburri | 11:775ebb69d5e1 | 142 | #endif |