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@3:92ba0254af87, 2013-03-07 (annotated)

Committer:
chrigelburri
Date:
Thu Mar 07 09:47:07 2013 +0000
Revision:
3:92ba0254af87
Parent:
2:d8e1613dc38b
Child:
4:3a97923ff2d4
bitte kommentare korriegieren;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 2:d8e1613dc38b 1 /**
chrigelburri 3:92ba0254af87 2 * @file main.cpp
chrigelburri 2:d8e1613dc38b 3 * @author Christian Burri
chrigelburri 2:d8e1613dc38b 4 *
chrigelburri 2:d8e1613dc38b 5 * @section LICENSE
chrigelburri 2:d8e1613dc38b 6 *
chrigelburri 2:d8e1613dc38b 7 * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 1:6cd533a712c6 8 * All rights reserved.
chrigelburri 2:d8e1613dc38b 9 *
chrigelburri 2:d8e1613dc38b 10 * @section DESCRIPTION
chrigelburri 2:d8e1613dc38b 11 *
chrigelburri 3:92ba0254af87 12 * This Programm is for a autonomous robot for the competition
chrigelburri 3:92ba0254af87 13 * at the Hochschule Luzern.
chrigelburri 3:92ba0254af87 14 * We are one of the 32 teams. In the team #1 is:
chrigelburri 3:92ba0254af87 15 * - Bauernfeind Julia <B>WI</B> <a href="julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a>
chrigelburri 3:92ba0254af87 16 * - Büttler Pirmin <B>WI</B> <a href="pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a>
chrigelburri 3:92ba0254af87 17 * - Amberg Reto <B>I</B> <a href="reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a>
chrigelburri 3:92ba0254af87 18 * - Galliker Arno <B>I</B> <a href="arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a>
chrigelburri 3:92ba0254af87 19 * - Amrein Marcel <B>M</B> <a href="marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a>
chrigelburri 3:92ba0254af87 20 * - Flühler Ramon <B>M</B> <a href="ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a>
chrigelburri 3:92ba0254af87 21 * - Burri Christian <B>ET</B> <a href="christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a>
chrigelburri 3:92ba0254af87 22 *
chrigelburri 3:92ba0254af87 23 * The postition control is based on polar coordiantes.
chrigelburri 3:92ba0254af87 24 * For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
chrigelburri 2:d8e1613dc38b 25 *
chrigelburri 1:6cd533a712c6 26 */
chrigelburri 1:6cd533a712c6 27
chrigelburri 1:6cd533a712c6 28 #include "mbed.h"
chrigelburri 1:6cd533a712c6 29 #include "math.h"
chrigelburri 1:6cd533a712c6 30 #include "defines.h"
chrigelburri 1:6cd533a712c6 31 #include "State.h"
chrigelburri 1:6cd533a712c6 32 #include "HMC5883L.h"
chrigelburri 1:6cd533a712c6 33 #include "HMC6352.h"
chrigelburri 1:6cd533a712c6 34 #include "RobotControl.h"
chrigelburri 1:6cd533a712c6 35 #include "Ping.h"
chrigelburri 1:6cd533a712c6 36 #include "PowerControl/EthernetPowerControl.h"
chrigelburri 1:6cd533a712c6 37
chrigelburri 1:6cd533a712c6 38 // LiPo Batterie
chrigelburri 1:6cd533a712c6 39 AnalogIn battery(p15); // Battery check
chrigelburri 1:6cd533a712c6 40
chrigelburri 1:6cd533a712c6 41 // compass
chrigelburri 1:6cd533a712c6 42 //HMC5883L compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C)
chrigelburri 1:6cd533a712c6 43 //HMC6352 compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C)
chrigelburri 1:6cd533a712c6 44
chrigelburri 1:6cd533a712c6 45 //Hallsensor
chrigelburri 1:6cd533a712c6 46 //hall1, hall2, hall3
chrigelburri 1:6cd533a712c6 47 Hallsensor hallLeft(p18, p17, p16);
chrigelburri 1:6cd533a712c6 48 //hall1, hall2, hall3
chrigelburri 1:6cd533a712c6 49 Hallsensor hallRight(p27, p28, p29);
chrigelburri 1:6cd533a712c6 50
chrigelburri 1:6cd533a712c6 51 // Motors
chrigelburri 1:6cd533a712c6 52 //enb, ready, pwm, actualSpeed, Hallsensor object
chrigelburri 1:6cd533a712c6 53 MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft);
chrigelburri 1:6cd533a712c6 54 //enb, ready, pwm, actualSpeed, Hallsensor object
chrigelburri 1:6cd533a712c6 55 MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight);
chrigelburri 1:6cd533a712c6 56
chrigelburri 1:6cd533a712c6 57 // Robot Control
chrigelburri 1:6cd533a712c6 58 RobotControl robotControl (&leftMotor, &rightMotor, /*&compass,*/ PERIOD_ROBOTCONTROL);
chrigelburri 1:6cd533a712c6 59
chrigelburri 1:6cd533a712c6 60 // Logging & State
chrigelburri 1:6cd533a712c6 61 state_t s; // stuct state
chrigelburri 1:6cd533a712c6 62 State state(&s, &robotControl, &leftMotor, &rightMotor, /*&compass,*/ &battery, PERIOD_STATE);
chrigelburri 1:6cd533a712c6 63
chrigelburri 1:6cd533a712c6 64 // PC USB communications
chrigelburri 1:6cd533a712c6 65 Serial pc(USBTX, USBRX);
chrigelburri 1:6cd533a712c6 66
chrigelburri 1:6cd533a712c6 67 DigitalOut myled(LED1);
chrigelburri 1:6cd533a712c6 68
chrigelburri 1:6cd533a712c6 69 //float magout[3] = {0};
chrigelburri 1:6cd533a712c6 70
chrigelburri 1:6cd533a712c6 71 // LiPo Batterie
chrigelburri 1:6cd533a712c6 72 float batterie_voltage;
chrigelburri 1:6cd533a712c6 73
chrigelburri 1:6cd533a712c6 74 int main()
chrigelburri 1:6cd533a712c6 75 {
chrigelburri 1:6cd533a712c6 76 /** Normal mbed power level for this setup is around 690mW
chrigelburri 1:6cd533a712c6 77 * assuming 5V used on Vin pin
chrigelburri 1:6cd533a712c6 78 * If you don't need networking...
chrigelburri 1:6cd533a712c6 79 * Power down Ethernet interface - saves around 175mW
chrigelburri 1:6cd533a712c6 80 * Also need to unplug network cable - just a cable sucks power
chrigelburri 1:6cd533a712c6 81 */
chrigelburri 1:6cd533a712c6 82 PHY_PowerDown();
chrigelburri 2:d8e1613dc38b 83
chrigelburri 2:d8e1613dc38b 84 // robotControl.start();
chrigelburri 1:6cd533a712c6 85 // compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
chrigelburri 1:6cd533a712c6 86 // compass.start();
chrigelburri 2:d8e1613dc38b 87
chrigelburri 2:d8e1613dc38b 88 state.initPlotFile();
chrigelburri 2:d8e1613dc38b 89
chrigelburri 1:6cd533a712c6 90 robotControl.start();
chrigelburri 1:6cd533a712c6 91 robotControl.setEnable(false);
chrigelburri 1:6cd533a712c6 92 wait(0.01);
chrigelburri 1:6cd533a712c6 93 robotControl.setEnable(true);
chrigelburri 1:6cd533a712c6 94 wait(0.01);
chrigelburri 1:6cd533a712c6 95 robotControl.setAllToZero(0, 0, PI/2 );
chrigelburri 2:d8e1613dc38b 96
chrigelburri 1:6cd533a712c6 97 leftMotor.setPulses(0);
chrigelburri 1:6cd533a712c6 98 rightMotor.setPulses(0);
chrigelburri 2:d8e1613dc38b 99
chrigelburri 2:d8e1613dc38b 100 state.startTimerFromZero();
chrigelburri 1:6cd533a712c6 101 state.start();
chrigelburri 2:d8e1613dc38b 102
chrigelburri 2:d8e1613dc38b 103 robotControl.setPositionAngle(0.0f, 1.0f, 17*PI/18);
chrigelburri 1:6cd533a712c6 104 while(!(s.millis >= 15000)) {
chrigelburri 1:6cd533a712c6 105 state.savePlotFile(s);
chrigelburri 1:6cd533a712c6 106 };
chrigelburri 2:d8e1613dc38b 107
chrigelburri 2:d8e1613dc38b 108 robotControl.setPositionAngle(-1.0f, 1.0f, -PI/2);
chrigelburri 1:6cd533a712c6 109 while(!(s.millis >= 30000)) {
chrigelburri 1:6cd533a712c6 110 state.savePlotFile(s);
chrigelburri 2:d8e1613dc38b 111 };
chrigelburri 2:d8e1613dc38b 112
chrigelburri 2:d8e1613dc38b 113 robotControl.setPositionAngle(-1.0f, 0.0f, 0.0f);
chrigelburri 2:d8e1613dc38b 114 while(!(s.millis >= 45000)) {
chrigelburri 2:d8e1613dc38b 115 state.savePlotFile(s);
chrigelburri 1:6cd533a712c6 116 };
chrigelburri 2:d8e1613dc38b 117
chrigelburri 2:d8e1613dc38b 118 robotControl.setPositionAngle(0.0f, 1.0f, PI/2);
chrigelburri 2:d8e1613dc38b 119 while(!(s.millis >= 63000)) {
chrigelburri 2:d8e1613dc38b 120 state.savePlotFile(s);
chrigelburri 2:d8e1613dc38b 121 };
chrigelburri 2:d8e1613dc38b 122
chrigelburri 2:d8e1613dc38b 123 state.savePlotFile(s);
chrigelburri 1:6cd533a712c6 124 state.closePlotFile();
chrigelburri 1:6cd533a712c6 125 state.stop();
chrigelburri 1:6cd533a712c6 126 robotControl.setEnable(false);
chrigelburri 1:6cd533a712c6 127 }