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@17:f0a973f17917, 2013-05-03 (annotated)

Committer:
chrigelburri
Date:
Fri May 03 06:30:46 2013 +0000
Revision:
17:f0a973f17917
Parent:
16:b5d949136a21 
bastel mit adb

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 10:09ddb819fdcb 1 /*! \mainpage Index Page
chrigelburri 2:d8e1613dc38b 2 * @author Christian Burri
chrigelburri 11:775ebb69d5e1 3 * @author Arno Galliker
chrigelburri 2:d8e1613dc38b 4 *
chrigelburri 11:775ebb69d5e1 5 * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 1:6cd533a712c6 6 * All rights reserved.
chrigelburri 2:d8e1613dc38b 7 *
chrigelburri 11:775ebb69d5e1 8 * @brief
chrigelburri 2:d8e1613dc38b 9 *
chrigelburri 15:cb1337567ad4 10 * This program is for an autonomous robot for the competition
chrigelburri 4:3a97923ff2d4 11 * at the Hochschule Luzern.
chrigelburri 3:92ba0254af87 12 * We are one of the 32 teams. In the team #1 is:
chrigelburri 11:775ebb69d5e1 13 * - Bauernfeind Julia <B>WI</B> <a href="mailto:julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 14 * - Büttler Pirmin <B>WI</B> <a href="mailto:pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 15 * - Amberg Reto <B>I</B> <a href="mailto:reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 16 * - Galliker Arno <B>I</B> <a href="mailto:arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 17 * - Amrein Marcel <B>M</B> <a href="mailto:marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 18 * - Flühler Ramon <B>M</B> <a href="mailto:ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a>
chrigelburri 11:775ebb69d5e1 19 * - Burri Christian <B>ET</B> <a href="mailto:christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a>
chrigelburri 4:3a97923ff2d4 20 *
chrigelburri 13:a7c30ee09bae 21 * The postition control is based on this Documentation: Control of Wheeled Mobile Robots:
chrigelburri 13:a7c30ee09bae 22 * An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli.
chrigelburri 15:cb1337567ad4 23 * 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 24 *
chrigelburri 15:cb1337567ad4 25 * The connection to an android smartphone is realise with the library AndroidAccessory from Rich Bayliss.
chrigelburri 15:cb1337567ad4 26 * For more information see here: <a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/">https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/</a>
chrigelburri 17:f0a973f17917 27 *
chrigelburri 13:a7c30ee09bae 28 * The rest of the classes are only based on standard library from mbed.
chrigelburri 15:cb1337567ad4 29 * 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 30 */
chrigelburri 1:6cd533a712c6 31
chrigelburri 11:775ebb69d5e1 32 /**
chrigelburri 11:775ebb69d5e1 33 * @file main.cpp
chrigelburri 11:775ebb69d5e1 34 */
chrigelburri 11:775ebb69d5e1 35
chrigelburri 1:6cd533a712c6 36 #include "defines.h"
chrigelburri 1:6cd533a712c6 37 #include "State.h"
chrigelburri 1:6cd533a712c6 38 #include "RobotControl.h"
chrigelburri 17:f0a973f17917 39
chrigelburri 17:f0a973f17917 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 * @brief <code>adkTerm</code> object is for the communication with a smartphone.
chrigelburri 14:6a45a9f940a8 107 * The operation system must be a android.
chrigelburri 14:6a45a9f940a8 108 */
chrigelburri 16:b5d949136a21 109 //AdkTerm adkTerm(&robotControl, &s, PERIOD_ANDROID);
chrigelburri 14:6a45a9f940a8 110 /*! @} */
chrigelburri 14:6a45a9f940a8 111
chrigelburri 14:6a45a9f940a8 112
chrigelburri 12:235e318a414f 113 // @todo PC USB communications DAs wird danach gelöscht
chrigelburri 16:b5d949136a21 114 //Serial pc(USBTX, USBRX);
chrigelburri 1:6cd533a712c6 115
chrigelburri 12:235e318a414f 116 /**
chrigelburri 12:235e318a414f 117 * @brief Main function. Start the Programm here.
chrigelburri 12:235e318a414f 118 */
chrigelburri 1:6cd533a712c6 119 int main()
chrigelburri 1:6cd533a712c6 120 {
chrigelburri 12:235e318a414f 121
chrigelburri 12:235e318a414f 122 /**
chrigelburri 12:235e318a414f 123 * Initialze the filt PLOTS.txt,
chrigelburri 12:235e318a414f 124 * start the timer for the Logging to the file
chrigelburri 12:235e318a414f 125 * and start the Task for logging
chrigelburri 12:235e318a414f 126 **/
chrigelburri 16:b5d949136a21 127 state.initPlotFile();
chrigelburri 12:235e318a414f 128 state.startTimerFromZero();
chrigelburri 12:235e318a414f 129 state.start();
chrigelburri 12:235e318a414f 130
chrigelburri 12:235e318a414f 131 /**
chrigelburri 12:235e318a414f 132 * Clear all Errors of the ESCON Module, with a disabled to enable event
chrigelburri 12:235e318a414f 133 */
chrigelburri 1:6cd533a712c6 134 robotControl.setEnable(false);
chrigelburri 16:b5d949136a21 135 wait(0.01);
chrigelburri 1:6cd533a712c6 136 robotControl.setEnable(true);
chrigelburri 6:48eeb41188dd 137 wait(0.1);
chrigelburri 12:235e318a414f 138
chrigelburri 12:235e318a414f 139 /**
chrigelburri 12:235e318a414f 140 * Set the startposition and start the Task for controlling the roboter.
chrigelburri 12:235e318a414f 141 */
chrigelburri 16:b5d949136a21 142 //robotControl.setAllToZero(0, 0, PI/2 );
chrigelburri 16:b5d949136a21 143 robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
chrigelburri 8:696c2f9dfc62 144 robotControl.start();
chrigelburri 8:696c2f9dfc62 145
chrigelburri 17:f0a973f17917 146 init();
chrigelburri 6:48eeb41188dd 147
chrigelburri 17:f0a973f17917 148 //pc.printf("connection isOpen\n");
chrigelburri 5:48a258f6335e 149
chrigelburri 17:f0a973f17917 150 while(1) {
chrigelburri 6:48eeb41188dd 151
chrigelburri 17:f0a973f17917 152 ADB::poll();
chrigelburri 4:3a97923ff2d4 153
chrigelburri 17:f0a973f17917 154 //robotControl.setDesiredPositionAndAngle(androidx, androidy, androidt);
chrigelburri 17:f0a973f17917 155 robotControl.setDesiredPositionAndAngle(androidx, 1.4, 1.3);
chrigelburri 11:775ebb69d5e1 156
chrigelburri 17:f0a973f17917 157 char str[32];
chrigelburri 11:775ebb69d5e1 158
chrigelburri 17:f0a973f17917 159 // to mbed
chrigelburri 17:f0a973f17917 160 sprintf( str, "%f;%f;%f;", robotControl.getxActualPosition(), robotControl.getyActualPosition(), robotControl.getDesiredTheta());
chrigelburri 17:f0a973f17917 161 //pc.printf("Sending: %s\n\r",str);
chrigelburri 17:f0a973f17917 162 connection->write(sizeof(str),(unsigned char*)&str);
chrigelburri 9:d3cdcdef9719 163
chrigelburri 17:f0a973f17917 164 wait(1);
chrigelburri 12:235e318a414f 165
chrigelburri 17:f0a973f17917 166 }
chrigelburri 8:696c2f9dfc62 167
chrigelburri 12:235e318a414f 168 /**
chrigelburri 17:f0a973f17917 169 * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm
chrigelburri 17:f0a973f17917 170 */
chrigelburri 10:09ddb819fdcb 171 state.savePlotFile(s);
chrigelburri 10:09ddb819fdcb 172 state.closePlotFile();
chrigelburri 10:09ddb819fdcb 173 state.stop();
chrigelburri 10:09ddb819fdcb 174 robotControl.setEnable(false);
chrigelburri 17:f0a973f17917 175
chrigelburri 10:09ddb819fdcb 176 }