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

Diff: main.cpp

Revision:
10:09ddb819fdcb
Parent:
9:d3cdcdef9719
Child:
11:775ebb69d5e1
--- a/main.cpp	Sat Mar 30 16:35:22 2013 +0000
+++ b/main.cpp	Thu Apr 04 06:43:43 2013 +0000
@@ -1,7 +1,5 @@
-/**
- * \mainpage Index Page
+/*! \mainpage Index Page
  *
- * @file main.cpp
  * @author Christian Burri
  *
  * @section LICENSE
@@ -41,8 +39,10 @@
 //Android
 //AdkTerm AdkTerm;
 
-// LiPo Batterie
-AnalogIn battery(p15);           // Battery check
+/**
+ * LiPo Batterie for check an undervoltage.
+ */
+AnalogIn battery(p15);
 
 // compass
 //HMC5883L compass(p9, p10, PERIOD_COMPASS);       // sda, sdl (I2C)
@@ -79,11 +79,11 @@
 int main()
 {
     /** Normal mbed power level for this setup is around 690mW
-    * assuming 5V used on Vin pin
-    * If you don't need networking...
-    * Power down Ethernet interface - saves around 175mW
-    * Also need to unplug network cable - just a cable sucks power
-    */
+     * assuming 5V used on Vin pin
+     * If you don't need networking...
+     * Power down Ethernet interface - saves around 175mW
+     * Also need to unplug network cable - just a cable sucks power
+     */
     PHY_PowerDown();
 
     //  robotControl.start();
@@ -99,7 +99,7 @@
     robotControl.setEnable(true);
     wait(0.1);
     //robotControl.setAllToZero(0, 0, PI/2 );
-          robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+    robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
     robotControl.start();
 
 
@@ -253,30 +253,30 @@
     robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f,  -PI/2);
     while(!(s.millis >= 32000)) {
         state.savePlotFile(s);
-}
+    }
 
 
 
 
 
-        /*
-            printf("here we go... \n");
-            AdkTerm.setupDevice();
-            printf("Android Development Kit: start\r\n");
-            USBInit();
-            while (!(s.millis >= 60000)) {
-                USBLoop();
+    /*
+        printf("here we go... \n");
+        AdkTerm.setupDevice();
+        printf("Android Development Kit: start\r\n");
+        USBInit();
+        while (!(s.millis >= 60000)) {
+            USBLoop();
 
-                printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() )
+            printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() )
 
-                if( AdkTerm.getx() == 99) {
-                    break;
-                }
+            if( AdkTerm.getx() == 99) {
+                break;
             }
-        */
+        }
+    */
 
-        state.savePlotFile(s);
-        state.closePlotFile();
-        state.stop();
-        robotControl.setEnable(false);
-    }
+    state.savePlotFile(s);
+    state.closePlotFile();
+    state.stop();
+    robotControl.setEnable(false);
+}