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: defines.h

Revision:
22:bfec16575c91
Parent:
21:48248c5b8992
Child:
23:4d8173c5183b
Child:
25:e16f96fd7d21
--- a/defines.h	Fri May 17 06:39:44 2013 +0000
+++ b/defines.h	Sun May 19 07:35:16 2013 +0000
@@ -42,12 +42,12 @@
 /**
  * @brief Value for the diffrerenz between left an right, given in [m]
  */
-#define WHEEL_RADIUS_DIFF     0.0000f
+#define WHEEL_RADIUS_DIFF     0.0001f
 
 /**
- * @brief Radius of the left wheel, given in [m]
+ * @brief Radius of the left wheel, given in [m] kleiner --> weiter
  */
-#define WHEEL_RADIUS_LEFT     0.040280f
+#define WHEEL_RADIUS_LEFT     0.040190f    //0.040190f             
 
 /**
  * @brief Radius of the left wheel, given in [m]
@@ -57,7 +57,7 @@
 /**
  * @brief Distance of the wheel, given in [m] Greater --> turn more
  */
-#define WHEEL_DISTANCE        0.1873f  // 0.1870f 
+#define WHEEL_DISTANCE        0.17350f  // 0.17500f
 
 /**
  * @brief Sets the start X-point, given in [m]
@@ -110,7 +110,7 @@
 /**
  * @brief Speed Factor how get in the ESCON Studio
  */
-#define ESCON_GET_FACTOR      2452.4f
+#define ESCON_GET_FACTOR      2500.0f
 
 /**
  * @brief Error patch of the drift of Analog input and pwn output for set speed
@@ -131,12 +131,12 @@
 /**
  * @brief Main Gain for k1, k2 and k3
  */
-#define GAIN                  0.8f
+#define GAIN                  0.65f // 1.8f 0.65
 
 /**
  * @brief Gain k1 default 1.0f
  */
-#define K1                    0.8f * GAIN
+#define K1                    1.45f * GAIN  //0.8 1.2
 
 /**
  * @brief Gain k2 default 3.0f
@@ -152,7 +152,7 @@
  * @brief Min. Distance to switch the position controller off.
  * Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
  */
-#define MIN_DISTANCE_ERROR    0.01f
+#define MIN_DISTANCE_ERROR    0.001f
 /*! @} */
 
 /**