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.cpp

Revision:
8:696c2f9dfc62
Parent:
6:48eeb41188dd
Child:
11:775ebb69d5e1
--- a/RobotControl/RobotControl.cpp	Tue Mar 26 08:29:43 2013 +0000
+++ b/RobotControl/RobotControl.cpp	Sat Mar 30 06:55:08 2013 +0000
@@ -24,6 +24,9 @@
     motorControllerLeft->setPulses(0);
     motorControllerRight->setPulses(0);
 
+    motorControllerLeft->setVelocity(0.0f);
+    motorControllerRight->setVelocity(0.0f);
+
     Desired.setAcceleration(ACCELERATION);
     Desired.setThetaAcceleration(THETA_ACCELERATION);
 }
@@ -208,13 +211,13 @@
     stateLeft.speed = motorControllerLeft->getActualSpeed() *
                       2.0f * WHEEL_RADIUS_LEFT * PI * GEAR;
     stateRight.speed = - motorControllerRight->getActualSpeed() *
-                       2.0f * WHEEL_RADIUS_RIGHT * PI * GEAR;
+                       2.0f * WHEEL_RADIUS_RIGHT * PI * GEAR ;
 
     /* translational speed of the Robot (average) */
-    Actual.speed = ( stateRight.speed + stateLeft.speed ) / 2.0f;
+    Actual.speed = (stateRight.speed + stateLeft.speed) / 2.0f;
 
     /* rotational speed of the Robot  */
-    Actual.omega = ( stateRight.speed - stateLeft.speed  ) / WHEEL_DISTANCE;
+    Actual.omega = (stateRight.speed - stateLeft.speed) / WHEEL_DISTANCE;
 
     /* rotational theta of the Robot integrate the omega with the time*/
     Actual.theta += Actual.omega * period;