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: RobotControl/MotionState.cpp

Revision:
6:48eeb41188dd
Parent:
0:31f7be68e52d
Child:
11:775ebb69d5e1
--- a/RobotControl/MotionState.cpp	Thu Mar 21 08:56:53 2013 +0000
+++ b/RobotControl/MotionState.cpp	Sat Mar 23 13:52:48 2013 +0000
@@ -16,7 +16,11 @@
 }
 
 
-MotionState::MotionState(float xposition, float yposition, float theta, float speed, float omega)
+MotionState::MotionState(float xposition,
+                         float yposition,
+                         float theta,
+                         float speed,
+                         float omega)
 {
     this->xposition = xposition;
     this->yposition = yposition;
@@ -32,7 +36,11 @@
 
 }
 
-void MotionState::setState(float xposition, float yposition, float theta, float speed, float omega)
+void MotionState::setState(float xposition,
+                           float yposition,
+                           float theta,
+                           float speed,
+                           float omega)
 {
     this->xposition = xposition;
     this->yposition = yposition;
@@ -120,7 +128,9 @@
     return thetaAcceleration;
 }
 
-void MotionState::increment(float desiredSpeed, float desiredOmega, float period)
+void MotionState::increment(float desiredSpeed,
+                            float desiredOmega,
+                            float period)
 {
     float acceleration = (desiredSpeed-speed)/period;
     if (acceleration < -this->acceleration) acceleration = -this->acceleration;