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: StateDefines/State.cpp

Revision:
6:48eeb41188dd
Parent:
5:48a258f6335e
Child:
8:696c2f9dfc62
--- a/StateDefines/State.cpp	Thu Mar 21 08:56:53 2013 +0000
+++ b/StateDefines/State.cpp	Sat Mar 23 13:52:48 2013 +0000
@@ -62,7 +62,8 @@
 {
     char buf[256];
 
-    sprintf(buf,"%d\t%f\t%d\t%d\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%d\t%f\t%f\t%f",
+    sprintf(buf,"%d\t%f\t%d\t%d\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t"
+            "%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%d\t%f\t%f\t%f",
             s.millis,
             s.voltageBattery,
             s.leftPulses,
@@ -149,8 +150,10 @@
     s->voltageBattery = readBattery();
     s->leftPulses = - motorControllerLeft->getPulses();
     s->rightPulses = motorControllerRight->getPulses();
-    s->leftVelocity = motorControllerLeft->getActualSpeed() * 2.0f * WHEEL_RADIUS * PI;
-    s->rightVelocity = - motorControllerRight->getActualSpeed()* 2.0f * WHEEL_RADIUS * PI;
+    s->leftVelocity = motorControllerLeft->getActualSpeed() *
+                      2.0f * WHEEL_RADIUS_LEFT * PI;
+    s->rightVelocity = - motorControllerRight->getActualSpeed()*
+                       2.0f * WHEEL_RADIUS_RIGHT * PI;
     s->velocity = robotControl->getActualSpeed();
     s->omega =  robotControl->getActualOmega();
     s->xAxis = robotControl->getxActualPosition();
@@ -171,5 +174,4 @@
     setBatteryBit();
     setEnableLeftBit();
     setEnableRightBit();
-
 }