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:
- 22:bfec16575c91
- Parent:
- 21:48248c5b8992
- Child:
- 23:4d8173c5183b
- Child:
- 24:08241be546ba
--- a/main.cpp Fri May 17 06:39:44 2013 +0000
+++ b/main.cpp Sun May 19 07:35:16 2013 +0000
@@ -114,14 +114,25 @@
int main()
{
+ int garagenumber = 1;
+ float x = -2.954f + 0.308 * garagenumber;
+ float ypre = 1.30f;
+ float ygoal = 0.80f;
+
/**
- * Initialze the filt PLOTS.txt,
+ * Check at first the Battery voltage. Starts when the voltages greater as the min is.
* start the timer for the Logging to the file
* and start the Task for logging
**/
+ state.start();
+ state.initPlotFile();
+ state.closePlotFile();
+ while(s.voltageBattery < BAT_MIN) {}
+ state.stop();
+ wait(0.5);
+ state.start();
state.initPlotFile();
state.startTimerFromZero();
- state.start();
/**
* Clear all Errors of the ESCON Module, with a disabled to enable event
@@ -134,99 +145,95 @@
/**
* 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();
-
- // 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);
+ state.savePlotFile(s);
- robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.9)) {
- state.savePlotFile(s);
- };
+ /**
+ * Sets the desired Points.
+ */
+ robotControl.setDesiredPositionAndAngle(-1.35f, 1.85f, 3*PI/8);
+ 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(-0.5f, 3.0f, PI/2); //0.75
- while(!(robotControl.getDistanceError() <= 0.7)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-0.75f, 2.85f, 3*PI/8);
+ 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() <= 0.05)) {
- 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(-2.0f, 2.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 1.0)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-2.1f, 3.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 1.0)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-2.65f, 1.30f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
- robotControl.setDesiredPositionAndAngle(-2.65f, 0.80f, -PI/2);
- while(!(s.millis >= 32000)) {
- state.savePlotFile(s);
- }
- */
+ robotControl.setDesiredPositionAndAngle(-2.0f, 1.8f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 1.0)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(x, ypre, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.4)) {
+ state.savePlotFile(s);
+ };
+ robotControl.setDesiredPositionAndAngle(x, ygoal, -PI/2);
+ while(!(s.millis >= 19000)) {
+ state.savePlotFile(s);
+ }
- pc.baud(460800);
- pc.printf("********************* MicroBridge 4568 ********************************\n\r");
- init();
+ /*
+ pc.baud(460800);
+ pc.printf("********************* MicroBridge 4568 ********************************\n\r");
- // Initialise the ADB subsystem.
-
- pc.printf("connection isOpen\n");
+ init();
- while(getDesiredTheta() < (4 * PI)) {
+ // Initialise the ADB subsystem.
- ADB::poll();
+ pc.printf("connection isOpen\n");
- if (getDesiredTheta() > (2 * PI)) {
- //robotControl.setAllToZero(0, 0, PI/2 );
- robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
- robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
- }
- else
- {
- robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
+ while(getDesiredTheta() < (4 * PI)) {
+
+ ADB::poll();
-
- state.savePlotFile(s);
- //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
- }
-
- writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta(), s.state&STATE_UNDER, s.state&STATE_LEFT, s.state&STATE_RIGHT, s.voltageBattery);
- //connection->write(sizeof(str),(unsigned char*)&str);
-
- wait(0.25);
-
- }
+ if (getDesiredTheta() > (2 * PI)) {
+ //robotControl.setAllToZero(0, 0, PI/2 );
+ robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
+ robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ }
+ else
+ {
+ robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
+ state.savePlotFile(s);
+ //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
+ }
+
+ writeActualPosition(robotControl.getxActualPosition(),robotControl.getyActualPosition(), robotControl.getActualTheta(), s.state&STATE_UNDER, s.state&STATE_LEFT, s.state&STATE_RIGHT, s.voltageBattery);
+ //connection->write(sizeof(str),(unsigned char*)&str);
+
+ wait(0.25);
+
+ }
+
+ */
/**
* Close the File PLOTS.txt to read the file with the computer afterwards and draw a diagramm
*/