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/RobotControl.h

Revision:
6:48eeb41188dd
Parent:
5:48a258f6335e
Child:
11:775ebb69d5e1
--- a/RobotControl/RobotControl.h	Thu Mar 21 08:56:53 2013 +0000
+++ b/RobotControl/RobotControl.h	Sat Mar 23 13:52:48 2013 +0000
@@ -45,103 +45,125 @@
     float               speed;
     float               omega;
 
+    /**
+     * Add ±2π when the range of
+     * the radian is over +π or under -π.
+     * @param theta to check the value
+     * @return the value in the range from -π to +π
+     */
+    float        PiRange(float theta);
+
 public:
 
     /**
-     * Creates a <code>Robot Control</code> object and initializes all private
-     * state variables.
-     * @param motorControllerLeft a reference to the servo drive for the left motor
-     * @param motorControllerRight a reference to the servo drive for the right motor
+     * Creates a <code>Robot Control</code> object and
+     * initializes all private state variables.
+     * @param motorControllerLeft a reference to the servo
+     * drive for the left motor
+     * @param motorControllerRight a reference to the servo
+     *  drive for the right motor
      * @param compass Modul HMC5883L
-     * @param period the sampling period of the run loop of this controller, given in [s]
+     * @param period the sampling period of the run loop of 
+     * this controller, given in [s]
      */
-    RobotControl(MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ float period);
+    RobotControl(MaxonESCON* motorControllerLeft,
+                 MaxonESCON*
+                 motorControllerRight,
+                 /*HMC6352* compass,*/
+                 float period);
 
     /**
-    * Destructor of the Object to destroy the Object.
-    **/
+     * Destructor of the Object to destroy the Object.
+     **/
     virtual     ~RobotControl();
 
     /**
-    * Enables or disables the servo drives of the motors.
-    * @param enable if <code>true</code> enables the drives, <code>false</code> otherwise
-    * the servo drives are shut down.
-    */
+     * Enables or disables the servo drives of the motors.
+     * @param enable if <code>true</code> enables the drives,
+     * <code>false</code> otherwise
+     * the servo drives are shut down.
+     */
     void        setEnable(bool enable);
 
     /**
-    * Tests if the servo drives of the motors are enabled.
-    * @return <code>true</code> if the drives are enabled, <code>false</code> otherwise
-    */
+     * Tests if the servo drives of the motors are enabled.
+     * @return <code>true</code> if the drives are enabled,
+     * <code>false</code> otherwise
+     */
     bool        isEnabled();
 
     /**
-    * Sets the maximum acceleration value.
-    * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
-    */
+     * Sets the maximum acceleration value.
+     * @param acceleration the maximum acceleration value to use
+     * for the calculation of the motion trajectory, given in [m/s<SUP>2</SUP>]
+     */
     void        setAcceleration(float acceleration);
 
     /**
-    * Sets the maximum acceleration value of rotation.
-    * @param acceleration the maximum acceleration value to use for the calculation of the motion trajectory, given in [rad/s<SUP>2</SUP>]
-    */
+     * Sets the maximum acceleration value of rotation.
+     * @param acceleration the maximum acceleration value
+     * to use for the calculation of the motion trajectory,
+     * given in [rad/s<SUP>2</SUP>]
+     */
     void        setThetaAcceleration(float acceleration);
 
     /**
-    * Sets the desired translational speed of the robot.
-    * @param speed the desired speed, given in [m/s]
-    */
+     * Sets the desired translational speed of the robot.
+     * @param speed the desired speed, given in [m/s]
+     */
     void        setDesiredSpeed(float speed);
 
     /**
-    * Sets the desired rotational speed of the robot.
-    * @param omega the desired rotational speed, given in [rad/s]
-    */
+     * Sets the desired rotational speed of the robot.
+     * @param omega the desired rotational speed, given in [rad/s]
+     */
     void        setDesiredOmega(float omega);
 
     /**
-    * Sets the desired X-position of the robot.
-    * @param xposition the desired position, given in [m]
-    */
+     * Sets the desired X-position of the robot.
+     * @param xposition the desired position, given in [m]
+     */
     void        setDesiredxPosition(float xposition);
 
     /**
-    * Sets the desired Y-position of the robot.
-    * @param yposition the desired position, given in [m]
-    */
+     * Sets the desired Y-position of the robot.
+     * @param yposition the desired position, given in [m]
+     */
     void        setDesiredyPosition(float yposition);
 
     /**
-    * Sets the desired &theta; of the robot.
-    * @param theta the desired &theta;, given in [rad]
-    */
+     * Sets the desired &theta; of the robot.
+     * @param theta the desired &theta;, given in [rad]
+     */
     void        setDesiredTheta(float theta);
-    
-        /**
-    * Get the desired X-position of the robot.
-    * @return xposition the desired position, given in [m]
-    */
+
+    /**
+     * Get the desired X-position of the robot.
+     * @return xposition the desired position, given in [m]
+     */
     float        getDesiredxPosition();
 
     /**
-    * Get the desired Y-position of the robot.
-    * @return yposition the desired position, given in [m]
-    */
+     * Get the desired Y-position of the robot.
+     * @return yposition the desired position, given in [m]
+     */
     float        getDesiredyPosition();
 
     /**
-    * Get the desired &theta; of the robot.
-    * @return theta the desired &theta;, given in [rad]
-    */
+     * Get the desired &theta; of the robot.
+     * @return theta the desired &theta;, given in [rad]
+     */
     float        getDesiredTheta();
 
     /**
-    * Sets the desired Position and &theta;.
-    * @param xposition the desired position, given in [m]
-    * @param yposition the desired position, given in [m]
-    * @param theta the desired &theta;, given in [rad]
-    */
-    void        setDesiredPositionAndAngle(float xposition, float yposition, float theta);
+     * Sets the desired Position and &theta;.
+     * @param xposition the desired position, given in [m]
+     * @param yposition the desired position, given in [m]
+     * @param theta the desired &theta;, given in [rad]
+     */
+    void        setDesiredPositionAndAngle(float xposition,
+                                           float yposition,
+                                           float theta);
 
     /**
      * Gets the desired &theta; of the goal point.
@@ -162,85 +184,82 @@
     float       getActualSpeed();
 
     /**
-    * Gets the desired rotational speed of the robot.
-    * @return the desired speed, given in [rad/s]
-    */
+     * Gets the desired rotational speed of the robot.
+     * @return the desired speed, given in [rad/s]
+     */
     float       getDesiredOmega();
 
     /**
-    * Gets the actual rotational speed of the robot.
-    * @return the desired speed, given in [rad/s]
-    */
+     * Gets the actual rotational speed of the robot.
+     * @return the desired speed, given in [rad/s]
+     */
     float       getActualOmega();
 
     /**
-    * Gets the actual translational X-position of the robot.
-    * @return the actual position, given in [m]
-    */
+     * Gets the actual translational X-position of the robot.
+     * @return the actual position, given in [m]
+     */
     float       getxActualPosition();
 
     /**
-    * Gets the X-position following error of the robot.
-    * @return the position following error, given in [m]
-    */
+     * Gets the X-position following error of the robot.
+     * @return the position following error, given in [m]
+     */
     float       getxPositionError();
 
     /**
-    * Gets the actual translational Y-position of the robot.
-    * @return the actual position, given in [m]
-    */
+     * Gets the actual translational Y-position of the robot.
+     * @return the actual position, given in [m]
+     */
     float       getyActualPosition();
 
     /**
-    * Gets the Y-position following error of the robot.
-    * @return the position following error, given in [m]
-    */
+     * Gets the Y-position following error of the robot.
+     * @return the position following error, given in [m]
+     */
     float       getyPositionError();
 
     /**
-    * Gets the actual orientation of the robot.
-    * @return the orientation, given in [rad]
-    */
+     * Gets the actual orientation of the robot.
+     * @return the orientation, given in [rad]
+     */
     float       getActualTheta();
 
     /**
-    * Gets the orientation following error of the robot.
-    * @return the orientation following error, given in [rad]
-    */
+     * Gets the orientation following error of the robot.
+     * @return the orientation following error, given in [rad]
+     */
     float       getThetaError();
 
     /**
-    * Gets the distance to disired point. Calculate with pythagoras.
-    * @return distance to goal, given in [m]
-    */
+     * Gets the distance to disired point. Calculate with pythagoras.
+     * @return distance to goal, given in [m]
+     */
     float       getDistanceError();
 
     /**
-    * Gets the &theta; ot the pointing vector to the goal right the unicycle axis from actual point.
-    * @return theta to goal, given in [rad]
-    */
+     * Gets the &theta; ot the pointing vector to the goal right
+     * the unicycle axis from actual point.
+     * @return theta to goal, given in [rad]
+     */
     float       getThetaErrorToGoal();
 
     /**
-    * Gets the &theta; ot the pointing vector to the goal right the unicycle main axis.
-    * @return theta from the goal, given in [rad]
-    */
+     * Gets the &theta; ot the pointing vector to the goal right the unicycle main axis.
+     * @return theta from the goal, given in [rad]
+     */
     float       getThetaGoal();
 
     /**
-    * Set all state to zero, except the X-position, y-position and &theta;.
-    * @param xZeroPos Sets the start X-position, given in [m]
-    * @param yZeroPos Sets the start y-position, given in [m]
-    * @param theta Sets the start &theta;, given in [rad]
-    */
-    void        setAllToZero(float xZeroPos, float yZeroPos, float theta);
+     * Set all state to zero, except the X-position, y-position and &theta;.
+     * @param xZeroPos Sets the start X-position, given in [m]
+     * @param yZeroPos Sets the start y-position, given in [m]
+     * @param theta Sets the start &theta;, given in [rad]
+     */
+    void        setAllToZero(float xZeroPos,
+                             float yZeroPos,
+                             float theta);
 
-    /**
-    * Add &plusmn;2&pi; when the range of the radian is over +&pi; or under -&pi;.
-    * @param theta to check the value
-    * @return the value in the range from -&pi; to +&pi;
-    */
-    float        PiRange(float theta);
 
     void        run();
 };