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.h

Revision:
6:48eeb41188dd
Parent:
3:92ba0254af87
Child:
11:775ebb69d5e1
--- a/StateDefines/State.h	Thu Mar 21 08:56:53 2013 +0000
+++ b/StateDefines/State.h	Sat Mar 23 13:52:48 2013 +0000
@@ -22,7 +22,7 @@
  *
  * State is the main mechanism for communicating current realtime system state to
  * the rest of the system for logging etc.
- * 
+ *
  */
 
 class State : public Task
@@ -34,12 +34,11 @@
     RobotControl*       robotControl;
     MaxonESCON*         motorControllerLeft;
     MaxonESCON*         motorControllerRight;
-  //  HMC6352*            compass;
+    //  HMC6352*            compass;
     AnalogIn*           battery;
     Timer               timer;
     float               period;
-
-    float               magout[3];
+    //float               magout[3];
 
 public:
 
@@ -53,28 +52,34 @@
      * @param battery Analog Input Battery Voltage input
      * @param period the sampling period of the run loop of this controller, given in [s]
      */
-    State(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ AnalogIn* battery, float period);
+    State(state_t* s,
+          RobotControl* robotControl,
+          MaxonESCON* motorControllerLeft,
+          MaxonESCON* motorControllerRight,
+          /*HMC6352* compass,*/
+          AnalogIn* battery,
+          float period);
 
     /**
-    * Destructor of the Object to destroy the Object.
-    **/
+     * Destructor of the Object to destroy the Object.
+     **/
     virtual     ~State();
-    
+
     /**
      * Initzialize the File. Open the File plots.txt and set the title at first line.
      */
     void initPlotFile(void);
 
     /**
-    * Save the char to the file.
-    * For example at the end.
-    * Don't forget the \n at first.
-    */
+     * Save the char to the file.
+     * For example at the end.
+     * Don't forget the \n at first.
+     */
     void savePlotText(char text[]);
 
     /**
-    * Close the File.
-    */
+     * Close the File.
+     */
     void closePlotFile(void);
 
     /**
@@ -84,15 +89,15 @@
      */
     float readBattery();
 
-     /**
+    /**
      * Starts the timer from zero.
      * The timer is for the logging Time.
      */
     void startTimerFromZero();
 
     /**
-    * Save the new state to a new line.
-    */
+     * Save the new state to a new line.
+     */
     void savePlotFile(state_t s);
 
     void        run();