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:
30:c32fc6174efe
Parent:
29:937c74ff040e
Child:
32:767044a3e421
--- a/main.cpp	Mon May 20 12:44:49 2013 +0000
+++ b/main.cpp	Mon May 20 13:31:29 2013 +0000
@@ -167,7 +167,7 @@
     pc.printf("connection isOpen\n");
 
     while(getDesiredTheta() < (4 * PI)) {
-        ADB::poll();
+        ADB::poll();        
         if (getDesiredTheta() > (2 * PI)) {
             /**
             * Runs at first till the Startbutton has pressed
@@ -176,11 +176,12 @@
             robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
             robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
             robotControl.setEnable(false);
-            wait(0.1);
+            wait(PERIOD_ANDROID/2);
         } else {
             robotControl.setEnable(true);
             robotControl.setDesiredPositionAndAngle(getDesiredX(), getDesiredY(), getDesiredTheta());
-             wait(0.1);
+            state.savePlotFile(s);
+            wait(PERIOD_ANDROID/2);
             state.savePlotFile(s);
             //void writeActualPosition(float x, float y, float t, int state_u, int state_l, int state_r, float volt_b)
         }
@@ -194,7 +195,7 @@
                             s.voltageBattery);
         //connection->write(sizeof(str),(unsigned char*)&str);
 
-        wait(0.1);
+        wait(PERIOD_ANDROID/2);
 
     }