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:
- 9:d3cdcdef9719
- Parent:
- 8:696c2f9dfc62
- Child:
- 10:09ddb819fdcb
--- a/main.cpp Sat Mar 30 06:55:08 2013 +0000
+++ b/main.cpp Sat Mar 30 16:35:22 2013 +0000
@@ -98,9 +98,9 @@
wait(0.1);
robotControl.setEnable(true);
wait(0.1);
- robotControl.setAllToZero(0, 0, PI/2 );
+ //robotControl.setAllToZero(0, 0, PI/2 );
+ robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
robotControl.start();
- // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 );
// robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
@@ -108,37 +108,32 @@
// wait(0.1);
//////////////////////////////////////////
-
- robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
+ /*
+ robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
-
- robotControl.setDesiredPositionAndAngle(-1.0f, 0.0f, 0);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2);
- while(!(robotControl.getDistanceError() <= 0.05)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0f, -0.8f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2);
- while(!(robotControl.getDistanceError() <= 0.05)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(0.0f, -0.2f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.05)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
- while(!(s.millis >= 65000)) {
- state.savePlotFile(s);
- };
-
+ robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2);
+ while(!(s.millis >= 32000)) {
+ state.savePlotFile(s);
+ };
+ */
@@ -160,16 +155,30 @@
////////////////////////////////////////////////////////////////////////
+ /*
+
+ //Zum Umfang einstellen 2m fahren
+ robotControl.setDesiredPositionAndAngle(0.0f, 0.5f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.2)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.2)) {
+ state.savePlotFile(s);
+ };
+ robotControl.setDesiredPositionAndAngle(0.0f, 1.5f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.2)) {
+ state.savePlotFile(s);
+ };
- //Zum Umfang einstellen 2m fahren
- /*
- robotControl.setDesiredPositionAndAngle(0.0f, 4.0f, PI/2);
- while(!(s.millis >= 30000)) {
- state.savePlotFile(s);
- };
- */
+ robotControl.setDesiredPositionAndAngle(0.0f, 2.0f, PI/2);
+ while(!(s.millis >= 30000)) {
+ state.savePlotFile(s);
+ };
+ */
///////////////oder//////////////////e
@@ -193,78 +202,81 @@
while(!(s.millis >= 30000)) {
state.savePlotFile(s);
}
+
*/
-
////////////////////////////////////////////////////////
// Epä Parkour fahrä
- /*
- robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
- wait(0.1);
- robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
+ wait(0.1);
- robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
-
- robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4);
+ while(!(robotControl.getDistanceError() <= 0.9)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.2)) {
- state.savePlotFile(s);
- };
-
- robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI);
- while(!(robotControl.getDistanceError() <= 0.1)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4);
+ while(!(robotControl.getDistanceError() <= 0.7)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.4)) {
- state.savePlotFile(s);
- };
+ robotControl.setDesiredPositionAndAngle(-0.75f, 3.0f, PI/2);
+ while(!(robotControl.getDistanceError() <= 0.7)) {
+ state.savePlotFile(s);
+ };
- robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2);
- while(!(robotControl.getDistanceError() <= 0.06)) {
- 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() <= 0.1)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-2.4f, 3.0f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 1.0)) {
+ state.savePlotFile(s);
+ };
+
+ robotControl.setDesiredPositionAndAngle(-1.74f, 1.30f, -PI/2);
+ while(!(robotControl.getDistanceError() <= 0.1)) {
+ state.savePlotFile(s);
+ };
+ robotControl.setDesiredPositionAndAngle(-1.75f, 0.80f, -PI/2);
+ while(!(s.millis >= 32000)) {
+ state.savePlotFile(s);
+}
- /*
- printf("here we go... \n");
- AdkTerm.setupDevice();
- printf("Android Development Kit: start\r\n");
- USBInit();
- while (!(s.millis >= 60000)) {
- USBLoop();
- printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() )
+ /*
+ printf("here we go... \n");
+ AdkTerm.setupDevice();
+ printf("Android Development Kit: start\r\n");
+ USBInit();
+ while (!(s.millis >= 60000)) {
+ USBLoop();
+
+ printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() )
- if( AdkTerm.getx() == 99) {
- break;
+ if( AdkTerm.getx() == 99) {
+ break;
+ }
}
- }
- */
+ */
- state.savePlotFile(s);
- state.closePlotFile();
- state.stop();
- robotControl.setEnable(false);
-}
+ state.savePlotFile(s);
+ state.closePlotFile();
+ state.stop();
+ robotControl.setEnable(false);
+ }