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: State/State.cpp

Revision:
27:a13ede88e75f
Parent:
24:08241be546ba
--- a/State/State.cpp	Mon May 20 09:41:47 2013 +0000
+++ b/State/State.cpp	Mon May 20 11:51:33 2013 +0000
@@ -15,7 +15,11 @@
              PinName batteryPin,
              float period)
     : Task(period) ,
-      battery(batteryPin)
+      battery(batteryPin),
+      led1(LED1),
+      led2(LED2),
+      led3(LED3),
+      led4(LED4)
 {
     /* get peripherals */
     this->s = s;
@@ -24,6 +28,7 @@
     this->motorControllerRight = motorControllerRight;
     this->battery =battery;
     this->period = period;
+
 }
 
 State::~State() {}
@@ -146,6 +151,27 @@
     return (sin(f + float(idx)* 1.0) + 1.0) / 2.0;   // transform value from -1.0 .. 1.0 to 0.0 .. 1.0
 }
 
+void State::ledArray(float wait)
+{
+    for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+        led1 = dim( 0, f );
+        led2 = dim( 1, f );
+        led3 = dim( 2, f );
+        led4 = dim( 3, f );
+
+        wait_ms(wait);
+    }
+    wait_ms(wait/0.2);
+    for (float f = 0.1f; f < 6.3f; f += 0.1f) {
+        led1 = dim( 3, f );
+        led2 = dim( 2, f );
+        led3 = dim( 1, f );
+        led4 = dim( 0, f );
+        wait_ms(wait);
+    }
+    wait_ms(wait/0.2);
+}
+
 void State::run()
 {
     s->millis = timer.read_ms();