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:
34:62996eed658a
Parent:
33:ac39982fd3b2
Child:
36:4226e50a0bcd
--- a/main.cpp	Tue May 21 17:42:50 2013 +0000
+++ b/main.cpp	Sat May 25 05:44:14 2013 +0000
@@ -113,13 +113,13 @@
 {
 
     /**
-     * Check at first the Battery voltage. Starts when the voltage 
+     * Check at first the Battery voltage. Starts when the voltage
      * is greater than the min is.
      * start the timer for the Logging to the file
      * and start the Task for logging.
      **/
     state.start();
-    
+
     while(s.voltageBattery < BAT_MIN) {
         for (float f = 0.1f; f < 6.3f; f += 0.1f) {
             for(int i = 0; i <= 3; i  ++) {
@@ -144,7 +144,7 @@
     state.initPlotFile();
     state.startTimerFromZero();
     robotControl.start();
-
+/*
     /**
      * Clear all Errors of the ESCON Module, with a disabled to enable event.
      */
@@ -198,14 +198,14 @@
                                             robotControl.getyActualPosition(),
                                             robotControl.getActualTheta());
     robotControl.stop();
-    state.savePlotFile(s);
     leftMotor.setVelocity(0.0f);
     rightMotor.setVelocity(0.0f);
+    wait(2);
+
 
     /**
      * Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm.
      */
-    state.savePlotFile(s);
     state.closePlotFile();
     state.stop();
     robotControl.setEnable(false);
@@ -230,5 +230,4 @@
         }
         wait(0.05);
     }
-    
 }