Christian Burri
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
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: main.cpp
- Revision:
- 11:775ebb69d5e1
- Parent:
- 10:09ddb819fdcb
- Child:
- 12:235e318a414f
--- a/main.cpp Thu Apr 04 06:43:43 2013 +0000
+++ b/main.cpp Fri Apr 05 10:58:42 2013 +0000
@@ -1,105 +1,107 @@
/*! \mainpage Index Page
- *
* @author Christian Burri
+ * @author Arno Galliker
*
- * @section LICENSE
- *
- * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
* All rights reserved.
*
- * @section DESCRIPTION
+ * @brief
*
* This Programm is for a autonomous robot for the competition
* at the Hochschule Luzern.
* We are one of the 32 teams. In the team #1 is:
- * - Bauernfeind Julia <B>WI</B> <a href="julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a>
- * - Büttler Pirmin <B>WI</B> <a href="pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a>
- * - Amberg Reto <B>I</B> <a href="reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a>
- * - Galliker Arno <B>I</B> <a href="arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a>
- * - Amrein Marcel <B>M</B> <a href="marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a>
- * - Flühler Ramon <B>M</B> <a href="ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a>
- * - Burri Christian <B>ET</B> <a href="christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a>
+ * - Bauernfeind Julia <B>WI</B> <a href="mailto:julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a>
+ * - Büttler Pirmin <B>WI</B> <a href="mailto:pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a>
+ * - Amberg Reto <B>I</B> <a href="mailto:reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a>
+ * - Galliker Arno <B>I</B> <a href="mailto:arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a>
+ * - Amrein Marcel <B>M</B> <a href="mailto:marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a>
+ * - Flühler Ramon <B>M</B> <a href="mailto:ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a>
+ * - Burri Christian <B>ET</B> <a href="mailto:christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a>
*
* The postition control is based on polar coordiantes.
* For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
*
+ *
*/
-#include "mbed.h"
-#include "math.h"
+/**
+ * @file main.cpp
+ */
+
#include "defines.h"
#include "State.h"
-#include "HMC5883L.h"
-#include "HMC6352.h"
#include "RobotControl.h"
-#include "Ping.h"
-#include "PowerControl/EthernetPowerControl.h"
//#include "android.h"
//Android
-//AdkTerm AdkTerm;
+//AdkTerm adkTerm;
+
+/**
+ * @name Hallsensor
+ * @{
+ */
+
+ /**
+ * @brief <code>hallsensorLeft</code> object with pin15, pin17 and pin16
+ */
+Hallsensor hallLeft(p18, p17, p16);
+/**
+ * @brief <code>hallsensorLeft</code> object with pin17, pin28 and pin29
+ */
+Hallsensor hallRight(p27, p28, p29);
+/*! @} */
/**
- * LiPo Batterie for check an undervoltage.
+ * @name Motors and Robot Control
+ * @{
*/
-AnalogIn battery(p15);
-
-// compass
-//HMC5883L compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C)
-//HMC6352 compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C)
-
-//Hallsensor
-//hall1, hall2, hall3
-Hallsensor hallLeft(p18, p17, p16);
-//hall1, hall2, hall3
-Hallsensor hallRight(p27, p28, p29);
-
-// Motors
-//enb, ready, pwm, actualSpeed, Hallsensor object
+
+ /**
+ * @brief <code>leftMotor</code> object with pin26, pin25, pin24, pin19 and <code>hallsensorLeft</code> object
+ */
MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft);
-//enb, ready, pwm, actualSpeed, Hallsensor object
+/**
+ * @brief <code>rightMotor</code> object with pin23, pin22, pin21, pin20 and <code>hallsensorRight</code> object
+ */
MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight);
-// Robot Control
-RobotControl robotControl (&leftMotor, &rightMotor, /*&compass,*/ PERIOD_ROBOTCONTROL);
-
-// Logging & State
-state_t s; // stuct state
-State state(&s, &robotControl, &leftMotor, &rightMotor, /*&compass,*/ &battery, PERIOD_STATE);
+/**
+ * @brief <code>robotControl</code> object with <code>leftMotor</code>, <code>rightMotor</code> and the sampling rate for the run method
+ */
+RobotControl robotControl(&leftMotor, &rightMotor, PERIOD_ROBOTCONTROL);
+/*! @} */
-// PC USB communications
-Serial pc(USBTX, USBRX);
+/**
+ * @name Logging & State
+ * @{
+ */
+
+ /**
+ * @brief Define the struct for the State and the Logging
+ */
+state_t s;
+/**
+ * @brief <code>state</code> object with <code>robotControl</code>, <code>rightMotor</code>, <code>leftMotor</code>, <code>battery</code>, and the sampling rate for the run method
+ */
+State state(&s, &robotControl, &leftMotor, &rightMotor, p15, PERIOD_STATE);
+/*! @} */
-DigitalOut myled(LED1);
-
-
-// LiPo Batterie
-float batterie_voltage;
+// PC USB communications DAs wird danach gelöscht
+//Serial pc(USBTX, USBRX);
int main()
{
- /** Normal mbed power level for this setup is around 690mW
- * assuming 5V used on Vin pin
- * If you don't need networking...
- * Power down Ethernet interface - saves around 175mW
- * Also need to unplug network cable - just a cable sucks power
- */
- PHY_PowerDown();
-
- // robotControl.start();
- // compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
- // compass.start();
-
- state.initPlotFile();
- state.startTimerFromZero();
- state.start();
-
+
+ state.initPlotFile();
+ state.startTimerFromZero();
+ state.start();
+
robotControl.setEnable(false);
wait(0.1);
robotControl.setEnable(true);
wait(0.1);
- //robotControl.setAllToZero(0, 0, PI/2 );
- robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+ robotControl.setAllToZero(0, 0, PI/2 );
+// robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
robotControl.start();
@@ -108,7 +110,7 @@
// wait(0.1);
//////////////////////////////////////////
- /*
+
robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI);
while(!(robotControl.getDistanceError() <= 0.1)) {
state.savePlotFile(s);
@@ -133,7 +135,7 @@
while(!(s.millis >= 32000)) {
state.savePlotFile(s);
};
- */
+
@@ -211,72 +213,77 @@
// Epä Parkour fahrä
-
- robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
- wait(0.1);
+ /*
+ robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ wait(0.1);
- robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.9)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.9)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4);
- while(!(robotControl.getDistanceError() <= 0.7)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4);
+ while(!(robotControl.getDistanceError() <= 0.7)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-0.75f, 3.0f, PI/2);
- while(!(robotControl.getDistanceError() <= 0.7)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-0.75f, 3.0f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.7)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.55)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.55)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-2.6f, 3.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 1.0)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.74f, 1.30f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
+ robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f, -PI/2);
+ while(!(s.millis >= 32000)) {
+ state.savePlotFile(s);
+ }
- robotControl.setDesiredPositionAndAngle(-2.4f, 3.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 1.0)) {
- state.savePlotFile(s);
- };
+ */
+
+
+
+/*
- robotControl.setDesiredPositionAndAngle(-1.74f, 1.30f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
- robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f, -PI/2);
- while(!(s.millis >= 32000)) {
- state.savePlotFile(s);
+ pc.baud(460800);
+ pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r");
+ pc.printf("here we go... \n");
+ adkTerm.setupDevice();
+ pc.printf("Android Development Kit: start\r\n");
+ USBInit();
+ while (1) {
+ USBLoop();
+
+ pc.printf("Android x: %f ",adkTerm.getx());
+ pc.printf("Android y: %f ",adkTerm.gety());
+ pc.printf("Android t: %f\n",adkTerm.gett());
+ robotControl.setDesiredPositionAndAngle(adkTerm.getx(), adkTerm.gety(), adkTerm.gett());
}
-
- /*
- printf("here we go... \n");
- AdkTerm.setupDevice();
- printf("Android Development Kit: start\r\n");
- USBInit();
- while (!(s.millis >= 60000)) {
- USBLoop();
-
- printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() )
-
- if( AdkTerm.getx() == 99) {
- break;
- }
- }
- */
-
state.savePlotFile(s);
state.closePlotFile();
state.stop();
robotControl.setEnable(false);
+ */
}