Christian Burri
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 
Christian Burri
Diff: main.cpp
- Revision:
- 20:01b233b0e606
- Parent:
- 19:b2f76b0fe4c8
- Child:
- 21:48248c5b8992
--- a/main.cpp Fri May 03 13:34:34 2013 +0000
+++ b/main.cpp Fri May 03 14:39:24 2013 +0000
@@ -241,29 +241,20 @@
pc.printf("connection isOpen\n");
- float flt = 0.0f;
- float flt2 = 0.2f;
- float flt3 = 1.2f;
-
while(1) {
ADB::poll();
-
- flt = flt - 0.1f;
- flt2 = flt2 + 0.2f;
- flt3 = flt3 - 0.05f;
+
+ robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
- robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
-
- writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta());
+ //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
+ writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta(), s.state&STATE_UNDER, s.state&STATE_LEFT, s.state&STATE_RIGHT, s.voltageBattery);
//connection->write(sizeof(str),(unsigned char*)&str);
wait(1);
}
-
-
state.savePlotFile(s);
state.closePlotFile();
state.stop();