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: Actuators/MaxonESCON.cpp

Revision:
8:696c2f9dfc62
Parent:
6:48eeb41188dd
--- a/Actuators/MaxonESCON.cpp	Tue Mar 26 08:29:43 2013 +0000
+++ b/Actuators/MaxonESCON.cpp	Sat Mar 30 06:55:08 2013 +0000
@@ -36,17 +36,17 @@
 {
     speed = speed / ESCON_SET_FACTOR * 60.0f;
     if(speed > 1 ) {
-        _pwm = 0.9f;
+        _pwm = 0.89f;
     } else if(speed < -1) {
-        _pwm = 0.1f;
+        _pwm = 0.11f;
     } else {
-        _pwm = 0.4f*speed + 0.5f;
+        _pwm = 0.4f*speed + (0.5f * (SET_SPEED_PATCH));
     }
 }
 
 float MaxonESCON::getActualSpeed(void)
 {
-    return (_actualSpeed.read()* 2.0f - 1.0f) * ESCON_GET_FACTOR / 60.0f;
+    return (_actualSpeed.read()* 2.0f - 1.0f *(GET_SPEED_PATCH)) * ESCON_GET_FACTOR / 60.0f;
 }
 
 void MaxonESCON::period(float period)