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:
16:b5d949136a21
Parent:
15:cb1337567ad4
Child:
17:f0a973f17917
Child:
18:306d362d692b
--- a/main.cpp	Fri Apr 26 06:02:41 2013 +0000
+++ b/main.cpp	Fri Apr 26 06:36:57 2013 +0000
@@ -36,7 +36,7 @@
 #include "defines.h"
 #include "State.h"
 #include "RobotControl.h"
-#include "android.h"
+//#include "android.h"
 
 /**
  * @name Hallsensor
@@ -105,12 +105,12 @@
  * @brief <code>adkTerm</code> object is for the communication with a smartphone.
  * The operation system must be a android.
  */
-AdkTerm adkTerm(&robotControl, &s, PERIOD_ANDROID);
+//AdkTerm adkTerm(&robotControl, &s, PERIOD_ANDROID);
 /*! @} */
 
 
 // @todo PC USB communications DAs wird danach gelöscht
-Serial pc(USBTX, USBRX);
+//Serial pc(USBTX, USBRX);
 
 /**
 * @brief Main function. Start the Programm here.
@@ -123,7 +123,7 @@
      * start the timer for the Logging to the file
      * and start the Task for logging
      **/
-    //state.initPlotFile();
+    state.initPlotFile();
     state.startTimerFromZero();
     state.start();
 
@@ -131,17 +131,17 @@
      * Clear all Errors of the ESCON Module, with a disabled to enable event
      */
     robotControl.setEnable(false);
-    wait(0.1);
+    wait(0.01);
     robotControl.setEnable(true);
     wait(0.1);
 
     /**
      * Set the startposition and start the Task for controlling the roboter.
      */
-    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();
-    
+    /*
     pc.baud(460800);
     pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r");
     pc.printf("here we go... \n");
@@ -153,7 +153,7 @@
     
     adkTerm.start();
 
-  /*
+  */
 
     //  Epä Parkour fahrä
     
@@ -170,7 +170,7 @@
             state.savePlotFile(s);
         };
 
-        robotControl.setDesiredPositionAndAngle(-0.55f, 3.0f,  PI/2); //0.75
+        robotControl.setDesiredPositionAndAngle(-0.5f, 3.0f,  PI/2); //0.75
         while(!(robotControl.getDistanceError() <= 0.7)) {
             state.savePlotFile(s);
         };
@@ -197,7 +197,7 @@
         };
 
         robotControl.setDesiredPositionAndAngle(-2.65f, 1.30f,  -PI/2);
-        while(!(robotControl.getDistanceError() <= 0.1)) {
+        while(!(robotControl.getDistanceError() <= 0.4)) {
             state.savePlotFile(s);
         };
         robotControl.setDesiredPositionAndAngle(-2.65f, 0.80f,  -PI/2);
@@ -205,8 +205,8 @@
             state.savePlotFile(s);
         }
 
-    */
-     
+    
+     /*
         while (1) {
             USBLoop();
             
@@ -219,8 +219,8 @@
             
             pc.printf( "To Android: x: %f   y: %f   t: %f; \n \n", robotControl.getxActualPosition(),
              robotControl.getyActualPosition(),
-             robotControl.getActualTheta());*/
-        }
+             robotControl.getActualTheta());
+        }*/